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@@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:493fc5abb8352d3eec0fb1f4adc0d7872dcc3cccf21523b43408ea19105fc43c +size 6661100 diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/config.yml b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..7f56914cd8ccc41af8a325f1d2253a87c4f6ec60 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/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/place_bread_skillet/ARX-X5/meta/info.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..4d43d232acd59bf6eb8c37368333257f32946f69 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/info.json @@ -0,0 +1,62 @@ +{ + "task": "place_bread_skillet", + "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/place_bread_skillet/ARX-X5/meta/instructions/episode0.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..1cd83e1226ef7d808ea9641c4564a9d5e8644a85 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the hand-sized oval loaf and put it in the flat-bottomed skillet with long handle.", + "Use the right arm to pick the light brown bread with ridges and put it in the skillet with extended grip handle", + "Pick the light brown bread with ridges and set it into the black skillet with smooth base.", + "Use the right arm to move the soft brown bread into the medium black pan with handle", + "Pick the smooth loaf with rounded edges off the table and place it in the smooth round pan made of iron.", + "Move the brown loaf into the heavy black cooking skillet from the table", + "Use the right arm to lift the small loaf with curved top and place it into the solid dark-colored round pan.", + "Grab the light brown loaf with smooth sides and place it inside the round cooking pan", + "Use the right arm to move the small golden brown bread and set it into the smooth round pan made of iron.", + "Put the small golden brown bread into the versatile skillet for stovetop cooking.", + "Use the right arm to pick the small golden brown bread for the heavy black cooking skillet", + "Use the right arm to pick the brown loaf up for the round pan with hole in handle", + "Pick up the brown loaf and place it in the skillet with extended grip handle.", + "Take the brown loaf and drop it into the round cooking pan.", + "Use the right arm to set the smooth loaf with rounded edges into the black skillet with smooth base.", + "Take the bread with golden-brown crust and set it into the heavy black cooking skillet", + "Put the hand-sized oval loaf into the heavy black cooking skillet after grabbing it", + "Use the right arm to grab the hand-sized oval loaf for the skillet with extended grip handle", + "Pick the smooth loaf with rounded edges up using the right arm and drop it in the medium black pan with handle.", + "Pick up the brown loaf and put it in the dark pan with sturdy grip", + "Use the right arm to take the golden bread loaf and move it into the flat-bottomed skillet with long handle.", + "Move the bread with warm golden color to the versatile skillet for stovetop cooking using the right arm", + "Lift the light brown loaf with smooth sides using the right arm and move it to the dark pan with sturdy grip", + "Place the golden bread loaf into the solid dark-colored round pan with the right arm.", + "Use the right arm to pick the bread with warm golden color and place it into the round pan with hole in handle.", + "Set the bread with warm golden color into the round pan with hole in handle after grabbing", + "Use the right arm to stick the light brown bread with ridges into the solid dark-colored round pan.", + "Pick up the small loaf with curved top with the right arm and drop it in the round cooking pan", + "Grab the bread with warm golden color using the right arm and place it in the heavy black cooking skillet", + "Take the small golden brown bread and put it in the round pan with hole in handle.", + "Lift the hand-sized oval loaf and drop it into the flat-bottomed skillet with long handle.", + "Pick the small loaf with curved top and transfer it to the smooth round pan made of iron", + "Move the bread with split top from table into the round pan with hole in handle", + "Place the hand-sized oval loaf from the table into the black pan with curved edges", + "Grab the bread with golden-brown crust from the table and set it in the solid dark-colored round pan.", + "Take the small golden brown bread with the right arm and drop into the flat-bottomed skillet with long handle", + "Use the right arm to place the light brown loaf with smooth sides into the smooth round pan made of iron", + "Pick the light brown bread with ridges with the right arm and set it in the flat-bottomed skillet with long handle", + "Grab the bread with golden-brown crust and place it inside the medium black pan with handle.", + "Transfer the small golden brown bread into the skillet with extended grip handle from the table", + "Take the bread with warm golden color and place it inside the versatile skillet for stovetop cooking", + "Place the bread with split top into the flat-bottomed skillet with long handle using the right arm", + "Grab the light brown loaf with smooth sides and stick it in the dark pan with sturdy grip.", + "Lift the small loaf with curved top and drop it into the round cooking pan", + "Use the right arm to grab the bread with golden-brown crust and set it in the versatile skillet for stovetop cooking.", + "Grab the light brown bread with ridges with the right arm and place in the smooth round pan made of iron", + "Use the right arm to grab the small loaf with curved top for the flat-bottomed skillet with long handle", + "Take the bread with split top off the table into the black pan with curved edges", + "Take the brown loaf and place it inside the black skillet with smooth base", + "Grab the soft brown bread and drop it into the round cooking pan", + "Take the golden bread loaf and put it in the versatile skillet for stovetop cooking.", + "Use the right arm to pick the small loaf with curved top and put it in the solid dark-colored round pan", + "Pick the smooth loaf with rounded edges and set it into the black pan with curved edges.", + "Use the right arm to move the light brown loaf with smooth sides into the black skillet with smooth base", + "Pick the small loaf with curved top off the table and place it in the smooth round pan made of iron.", + "Move the hand-sized oval loaf into the smooth round pan made of iron from the table", + "Use the right arm to lift the bread with warm golden color and place it into the versatile skillet for stovetop cooking.", + "Grab the small loaf with curved top and place it inside the round cooking pan", + "Use the right arm to move the smooth loaf with rounded edges and set it into the round pan with hole in handle.", + "Put the bread with golden-brown crust into the round pan with hole in handle.", + "Use the right arm to pick the soft brown bread for the black skillet with smooth base", + "Use the right arm to pick the brown loaf up for the black skillet with smooth base", + "Pick up the bread with warm golden color and place it in the skillet with extended grip handle.", + "Take the bread with warm golden color and drop it into the black skillet with smooth base.", + "Use the right arm to set the bread with golden-brown crust into the flat-bottomed skillet with long handle.", + "Take the light brown loaf with smooth sides and set it into the smooth round pan made of iron", + "Put the brown loaf into the heavy black cooking skillet after grabbing it", + "Use the right arm to grab the light brown bread with ridges for the round cooking pan", + "Pick the small golden brown bread up using the right arm and drop it in the skillet with extended grip handle.", + "Pick up the bread with golden-brown crust and put it in the smooth round pan made of iron", + "Use the right arm to take the smooth loaf with rounded edges and move it into the skillet with extended grip handle.", + "Move the light brown bread with ridges to the black skillet with smooth base using the right arm", + "Lift the bread with golden-brown crust using the right arm and move it to the skillet with extended grip handle", + "Place the bread with split top into the medium black pan with handle with the right arm.", + "Use the right arm to pick the small golden brown bread and place it into the smooth round pan made of iron.", + "Set the hand-sized oval loaf into the round cooking pan after grabbing", + "Use the right arm to stick the soft brown bread into the flat-bottomed skillet with long handle.", + "Pick up the golden bread loaf with the right arm and drop it in the black pan with curved edges", + "Grab the small golden brown bread using the right arm and place it in the dark pan with sturdy grip", + "Take the soft brown bread and put it in the medium black pan with handle.", + "Lift the small golden brown bread and drop it into the heavy black cooking skillet.", + "Pick the bread with split top and transfer it to the flat-bottomed skillet with long handle", + "Move the hand-sized oval loaf from table into the versatile skillet for stovetop cooking", + "Place the hand-sized oval loaf from the table into the flat-bottomed skillet with long handle", + "Grab the light brown bread with ridges from the table and set it in the flat-bottomed skillet with long handle.", + "Take the golden bread loaf with the right arm and drop into the dark pan with sturdy grip", + "Use the right arm to place the golden bread loaf into the flat-bottomed skillet with long handle", + "Pick the brown loaf with the right arm and set it in the black pan with curved edges", + "Grab the soft brown bread and place it inside the round pan with hole in handle.", + "Transfer the light brown bread with ridges into the flat-bottomed skillet with long handle from the table", + "Take the brown loaf and place it inside the skillet with extended grip handle", + "Place the bread with split top into the dark pan with sturdy grip using the right arm", + "Grab the light brown loaf with smooth sides and stick it in the flat-bottomed skillet with long handle.", + "Lift the hand-sized oval loaf and drop it into the skillet with extended grip handle", + "Use the right arm to grab the light brown bread with ridges and set it in the round cooking pan.", + "Grab the hand-sized oval loaf with the right arm and place in the flat-bottomed skillet with long handle", + "Use the right arm to grab the hand-sized oval loaf for the solid dark-colored round pan", + "Take the golden bread loaf off the table into the smooth round pan made of iron", + "Take the bread with split top and place it inside the black pan with curved edges", + "Grab the bread with golden-brown crust and drop it into the black skillet with smooth base" + ], + "unseen": [ + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Grab the oval bread and place it in the black skillet", + "Take the oval-shaped soft bread and put it in the black skillet", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Move the rounded oval bread to the black skillet using the right arm.", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the oval bread and set it in the black skillet", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Grab the oval bread and place it in the black skillet", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Grab the oval bread and drop it into the iron skillet for frying foods.", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Pick up the rounded oval bread and drop it into the black skillet", + "Grab the oval bread and set it in the black skillet", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Take the oval bread and put it in the black skillet", + "Grab the rounded oval bread and place it into the black skillet.", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Grab the rounded oval bread and drop it into the black skillet.", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the black skillet", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Grab the rounded oval bread and place it into the black skillet.", + "Move the oval bread to the black skillet using the right arm.", + "Grab the rounded oval bread and drop it into the black skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Pick up the oval bread and drop it into the black skillet", + "Grab the oval bread and set it in the round cast-iron skillet", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Take the rounded oval bread and put it in the black skillet", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Move the rounded oval bread to the black skillet using the right arm.", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Take the oval bread and put it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the black skillet", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Take the rounded oval bread and put it in the black skillet", + "Grab the oval bread and place it into the black skillet.", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Grab the oval bread and drop it into the iron skillet for frying foods.", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Use the right arm to move the oval bread to the black skillet.", + "Grab the oval bread and place it in the round cast-iron skillet", + "Take the rounded oval bread and put it in the black skillet", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the black skillet", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Grab the oval bread and place it in the black skillet", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Grab the rounded oval bread and place it in the black skillet", + "Take the rounded oval bread and put it in the black skillet", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Use the right arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the oval bread and set it in the round cast-iron skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode1.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..49539034eade95b0ce0b3e96b95b0b12a81ba7ae --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the cuboid bread and drop it into the round skillet with open handle end.", + "Pick the bread loaf with bumpy surface with the left arm and set it in the smooth non-stick skillet", + "Grab the soft bread and stick it in the dark gray skillet.", + "Pick the bread with rough texture off the table and place it in the medium-sized frying skillet.", + "Move the cuboid bread to the gray skillet for stovetop cooking using the left arm", + "Take the bread with rough texture off the table into the dark gray skillet", + "Move the bread loaf with bumpy surface into the skillet with black cooking surface from the table", + "Use the left arm to grab the doughy and soft bread and set it in the round skillet with handle.", + "Use the left arm to grab the cuboid bread for the black-surfaced skillet with gray sides", + "Use the left arm to pick the bread with rough texture and place it into the black-surfaced skillet with gray sides.", + "Use the left arm to grab the bread loaf with bumpy surface for the skillet with black cooking surface", + "Use the left arm to lift the golden bread and place it into the round skillet with handle.", + "Grab the bread loaf with uneven edges and place it inside the gray skillet for stovetop cooking", + "Pick the golden bread up using the left arm and drop it in the gray skillet for stovetop cooking.", + "Move the light golden brown bread from table into the metal skillet", + "Use the left arm to set the golden bread loaf into the round skillet with open handle end.", + "Take the bread block with light patches and set it into the gray skillet for stovetop cooking", + "Pick up the cuboid bread and place it in the medium-sized frying skillet.", + "Pick the hand-sized bread block and set it into the black-surfaced skillet with gray sides.", + "Grab the doughy and soft bread with the left arm and place in the metal skillet", + "Use the left arm to pick the hand-sized bread block and put it in the flat-bottom skillet", + "Use the left arm to place the bread with rough texture into the metal skillet with comfortable grip", + "Use the left arm to move the bread with rough texture into the skillet with black cooking surface", + "Take the bread with rough texture and put it in the metal skillet with comfortable grip.", + "Grab the square-shaped bread from the table and set it in the black-surfaced skillet with gray sides.", + "Take the cuboid bread with the left arm and drop into the metal skillet", + "Grab the doughy and soft bread using the left arm and place it in the metal skillet with comfortable grip", + "Transfer the hand-sized bread block into the medium-sized frying skillet from the table", + "Set the hand-sized bread block into the black-surfaced skillet with gray sides after grabbing", + "Place the bread block with light patches into the metal skillet with comfortable grip with the left arm.", + "Take the cuboid bread and place it inside the round skillet with open handle end", + "Place the bread loaf with uneven edges into the skillet for frying food using the left arm", + "Pick up the soft bread with the left arm and drop it in the medium-sized frying skillet", + "Take the soft bread and place it inside the medium-sized frying skillet", + "Use the left arm to move the square-shaped bread and set it into the dark gray skillet.", + "Use the left arm to pick the square-shaped bread for the gray skillet for stovetop cooking", + "Grab the bread loaf with uneven edges and drop it into the metal skillet with comfortable grip", + "Use the left arm to stick the golden bread into the metal skillet.", + "Take the soft bread and put it in the smooth non-stick skillet.", + "Grab the golden bread and place it inside the flat-bottom skillet.", + "Place the doughy and soft bread from the table into the smooth non-stick skillet", + "Lift the doughy and soft bread and drop it into the dark gray skillet.", + "Lift the bread block with light patches using the left arm and move it to the black-surfaced skillet with gray sides", + "Use the left arm to take the bread loaf with uneven edges and move it into the metal skillet with comfortable grip.", + "Pick the bread loaf with uneven edges and transfer it to the black-surfaced skillet with gray sides", + "Use the left arm to pick the bread loaf with uneven edges up for the dark gray skillet", + "Lift the hand-sized bread block and drop it into the black-surfaced skillet with gray sides", + "Put the golden bread into the flat-bottom skillet after grabbing it", + "Put the golden bread loaf into the skillet for frying food.", + "Pick up the bread with rough texture and put it in the flat-bottom skillet", + "Take the bread loaf with bumpy surface and drop it into the black-surfaced skillet with gray sides.", + "Pick the golden bread with the left arm and set it in the smooth non-stick skillet", + "Grab the cuboid bread and stick it in the round skillet with open handle end.", + "Pick the soft bread off the table and place it in the flat-bottom skillet.", + "Move the bread loaf with bumpy surface to the smooth non-stick skillet using the left arm", + "Take the soft bread off the table into the black-surfaced skillet with gray sides", + "Move the bread with rough texture into the metal skillet with comfortable grip from the table", + "Use the left arm to grab the golden bread loaf and set it in the metal skillet with comfortable grip.", + "Use the left arm to grab the golden bread loaf for the skillet with black cooking surface", + "Use the left arm to pick the bread loaf with bumpy surface and place it into the gray skillet for stovetop cooking.", + "Use the left arm to grab the bread block with light patches for the round skillet with open handle end", + "Use the left arm to lift the soft bread and place it into the dark gray skillet.", + "Grab the cuboid bread and place it inside the round skillet with handle", + "Pick the light golden brown bread up using the left arm and drop it in the metal skillet with comfortable grip.", + "Move the square-shaped bread from table into the skillet for frying food", + "Use the left arm to set the light golden brown bread into the smooth non-stick skillet.", + "Take the bread loaf with bumpy surface and set it into the round skillet with open handle end", + "Pick up the hand-sized bread block and place it in the round skillet with open handle end.", + "Pick the golden bread loaf and set it into the gray skillet for stovetop cooking.", + "Grab the hand-sized bread block with the left arm and place in the smooth non-stick skillet", + "Use the left arm to pick the square-shaped bread and put it in the round skillet with handle", + "Use the left arm to place the hand-sized bread block into the skillet for frying food", + "Use the left arm to move the bread loaf with bumpy surface into the gray skillet for stovetop cooking", + "Take the hand-sized bread block and put it in the dark gray skillet.", + "Grab the bread loaf with uneven edges from the table and set it in the black-surfaced skillet with gray sides.", + "Take the bread with rough texture with the left arm and drop into the gray skillet for stovetop cooking", + "Grab the golden bread loaf using the left arm and place it in the metal skillet with comfortable grip", + "Transfer the light golden brown bread into the round skillet with open handle end from the table", + "Set the hand-sized bread block into the flat-bottom skillet after grabbing", + "Place the bread with rough texture into the black-surfaced skillet with gray sides with the left arm.", + "Take the golden bread and place it inside the round skillet with open handle end", + "Place the soft bread into the round skillet with open handle end using the left arm", + "Pick up the bread loaf with uneven edges with the left arm and drop it in the dark gray skillet", + "Take the square-shaped bread and place it inside the flat-bottom skillet", + "Use the left arm to move the bread with rough texture and set it into the metal skillet.", + "Use the left arm to pick the square-shaped bread for the metal skillet with comfortable grip", + "Grab the golden bread and drop it into the gray skillet for stovetop cooking", + "Use the left arm to stick the square-shaped bread into the gray skillet for stovetop cooking.", + "Take the bread with rough texture and put it in the smooth non-stick skillet.", + "Grab the bread block with light patches and place it inside the smooth non-stick skillet.", + "Place the bread with rough texture from the table into the round skillet with handle", + "Lift the golden bread and drop it into the round skillet with open handle end.", + "Lift the light golden brown bread using the left arm and move it to the skillet for frying food", + "Use the left arm to take the bread loaf with uneven edges and move it into the flat-bottom skillet.", + "Pick the cuboid bread and transfer it to the metal skillet with comfortable grip", + "Use the left arm to pick the bread loaf with bumpy surface up for the metal skillet", + "Lift the golden bread loaf and drop it into the flat-bottom skillet", + "Put the light golden brown bread into the metal skillet after grabbing it", + "Put the cuboid bread into the flat-bottom skillet.", + "Pick up the hand-sized bread block and put it in the metal skillet" + ], + "unseen": [ + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Move the bread with golden crust to the dark skillet with shiny finish using the left arm.", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Use the left arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the left arm.", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Use the left arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the left arm.", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Use the left arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Use the left arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the left arm.", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Use the left arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the left arm.", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Use the left arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Use the left arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode10.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..de82209dcf419c7c94ecc3e7b3b6d376d4174ef4 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bread with rounded corners and place it inside the flat-bottomed skillet with long handle", + "Use the left arm to stick the bread with firm crust edges into the solid dark-colored round pan.", + "Use the left arm to grab the bread with rounded corners and set it in the skillet with extended grip handle.", + "Use the left arm to pick the bread with firm crust edges and put it in the round pan with hole in handle", + "Pick the golden crusted bread slice with the left arm and set it in the skillet with extended grip handle", + "Use the left arm to take the brown bread loaf and move it into the flat-bottomed skillet with long handle.", + "Grab the bread loaf with square shape and drop it into the dark pan with sturdy grip", + "Set the bread with firm crust edges into the round cooking pan after grabbing", + "Pick up the brown bread loaf and place it in the flat-bottomed skillet with long handle.", + "Put the golden crusted bread slice into the flat-bottomed skillet with long handle.", + "Move the rectangular bread soft inside into the round cooking pan from the table", + "Take the golden bread and set it into the round pan with hole in handle", + "Use the left arm to pick the golden crusted bread slice for the medium black pan with handle", + "Take the bread with firm crust edges and put it in the dark pan with sturdy grip.", + "Move the slice-shaped bread to the smooth round pan made of iron using the left arm", + "Pick up the bread with golden surface color with the left arm and drop it in the smooth round pan made of iron", + "Use the left arm to pick the bread with rounded corners up for the solid dark-colored round pan", + "Lift the golden crusted bread slice and drop it into the flat-bottomed skillet with long handle.", + "Lift the soft golden baked bread and drop it into the smooth round pan made of iron", + "Pick up the rectangular bread soft inside and put it in the medium black pan with handle", + "Use the left arm to move the slice-shaped bread and set it into the round cooking pan.", + "Take the golden brown loaf-shaped bread and put it in the black pan with curved edges.", + "Use the left arm to grab the bread loaf with square shape for the flat-bottomed skillet with long handle", + "Grab the golden bread and place it inside the black skillet with smooth base.", + "Use the left arm to set the golden brown loaf-shaped bread into the flat-bottomed skillet with long handle.", + "Use the left arm to pick the golden bread and place it into the skillet with extended grip handle.", + "Place the soft golden baked bread into the round pan with hole in handle with the left arm.", + "Take the golden bread with the left arm and drop into the black skillet with smooth base", + "Pick the slice-shaped bread up using the left arm and drop it in the flat-bottomed skillet with long handle.", + "Pick the golden bread and set it into the round cooking pan.", + "Place the bread with rounded corners into the smooth round pan made of iron using the left arm", + "Lift the golden bread using the left arm and move it to the round pan with hole in handle", + "Transfer the bread with golden surface color into the versatile skillet for stovetop cooking from the table", + "Grab the bread loaf with square shape and stick it in the skillet with extended grip handle.", + "Put the golden bread into the black skillet with smooth base after grabbing it", + "Grab the square loaf of bread with the left arm and place in the versatile skillet for stovetop cooking", + "Take the bread loaf with square shape and place it inside the solid dark-colored round pan", + "Use the left arm to grab the soft golden baked bread for the black pan with curved edges", + "Grab the golden bread using the left arm and place it in the round cooking pan", + "Use the left arm to move the soft golden baked bread into the round cooking pan", + "Use the left arm to place the bread loaf with square shape into the flat-bottomed skillet with long handle", + "Take the soft golden baked bread and drop it into the medium black pan with handle.", + "Use the left arm to lift the golden crusted bread slice and place it into the smooth round pan made of iron.", + "Take the golden bread off the table into the solid dark-colored round pan", + "Take the soft golden baked bread and place it inside the black skillet with smooth base", + "Pick the brown bread loaf and transfer it to the dark pan with sturdy grip", + "Place the golden bread from the table into the dark pan with sturdy grip", + "Move the soft golden baked bread from table into the solid dark-colored round pan", + "Grab the golden crusted bread slice from the table and set it in the solid dark-colored round pan.", + "Pick the bread loaf with square shape off the table and place it in the round cooking pan.", + "Grab the golden bread and place it inside the versatile skillet for stovetop cooking", + "Use the left arm to stick the golden brown loaf-shaped bread into the heavy black cooking skillet.", + "Use the left arm to grab the bread with rounded corners and set it in the versatile skillet for stovetop cooking.", + "Use the left arm to pick the bread with rounded corners and put it in the medium black pan with handle", + "Pick the bread with golden surface color with the left arm and set it in the black skillet with smooth base", + "Use the left arm to take the rectangular bread soft inside and move it into the round cooking pan.", + "Grab the slice-shaped bread and drop it into the versatile skillet for stovetop cooking", + "Set the bread with golden surface color into the smooth round pan made of iron after grabbing", + "Pick up the square loaf of bread and place it in the dark pan with sturdy grip.", + "Put the bread loaf with square shape into the medium black pan with handle.", + "Move the bread loaf with square shape into the flat-bottomed skillet with long handle from the table", + "Take the golden brown loaf-shaped bread and set it into the versatile skillet for stovetop cooking", + "Use the left arm to pick the bread with golden surface color for the skillet with extended grip handle", + "Take the rectangular bread soft inside and put it in the round cooking pan.", + "Move the rectangular bread soft inside to the round pan with hole in handle using the left arm", + "Pick up the bread with golden surface color with the left arm and drop it in the heavy black cooking skillet", + "Use the left arm to pick the golden brown loaf-shaped bread up for the dark pan with sturdy grip", + "Lift the bread with firm crust edges and drop it into the medium black pan with handle.", + "Lift the rectangular bread soft inside and drop it into the dark pan with sturdy grip", + "Pick up the bread with golden surface color and put it in the black pan with curved edges", + "Use the left arm to move the bread loaf with square shape and set it into the round cooking pan.", + "Take the soft golden baked bread and put it in the dark pan with sturdy grip.", + "Use the left arm to grab the bread with golden surface color for the skillet with extended grip handle", + "Grab the golden crusted bread slice and place it inside the dark pan with sturdy grip.", + "Use the left arm to set the bread with firm crust edges into the round cooking pan.", + "Use the left arm to pick the brown bread loaf and place it into the round pan with hole in handle.", + "Place the soft golden baked bread into the smooth round pan made of iron with the left arm.", + "Take the golden crusted bread slice with the left arm and drop into the versatile skillet for stovetop cooking", + "Pick the bread with firm crust edges up using the left arm and drop it in the flat-bottomed skillet with long handle.", + "Pick the bread loaf with square shape and set it into the round pan with hole in handle.", + "Place the bread with rounded corners into the versatile skillet for stovetop cooking using the left arm", + "Lift the rectangular bread soft inside using the left arm and move it to the flat-bottomed skillet with long handle", + "Transfer the soft golden baked bread into the smooth round pan made of iron from the table", + "Grab the bread with rounded corners and stick it in the skillet with extended grip handle.", + "Put the slice-shaped bread into the black pan with curved edges after grabbing it", + "Grab the slice-shaped bread with the left arm and place in the round cooking pan", + "Take the brown bread loaf and place it inside the heavy black cooking skillet", + "Use the left arm to grab the soft golden baked bread for the smooth round pan made of iron", + "Grab the slice-shaped bread using the left arm and place it in the black pan with curved edges", + "Use the left arm to move the soft golden baked bread into the skillet with extended grip handle", + "Use the left arm to place the golden crusted bread slice into the skillet with extended grip handle", + "Take the bread loaf with square shape and drop it into the solid dark-colored round pan.", + "Use the left arm to lift the square loaf of bread and place it into the versatile skillet for stovetop cooking.", + "Take the slice-shaped bread off the table into the smooth round pan made of iron", + "Take the bread loaf with square shape and place it inside the round cooking pan", + "Pick the bread with firm crust edges and transfer it to the skillet with extended grip handle", + "Place the bread with firm crust edges from the table into the heavy black cooking skillet", + "Move the golden crusted bread slice from table into the black skillet with smooth base", + "Grab the golden brown loaf-shaped bread from the table and set it in the round pan with hole in handle.", + "Pick the brown bread loaf off the table and place it in the versatile skillet for stovetop cooking." + ], + "unseen": [ + "Grab the soft rectangular bread loaf and drop it into the round cast-iron skillet.", + "Grab the small loaf-shaped bread and set it in the black skillet", + "Pick up the soft rectangular bread loaf and drop it into the iron skillet for frying foods", + "Grab the small loaf-shaped bread and place it in the round cast-iron skillet", + "Pick the soft rectangular bread loaf up and place it in the black skillet", + "Take the small loaf-shaped bread and put it in the black skillet", + "Grab the soft rectangular bread loaf and place it into the black skillet.", + "Move the soft rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Use the left arm to grab the bread loaf medium-sized and set it in the black skillet", + "Use the left arm to move the soft rectangular bread loaf to the iron skillet for frying foods.", + "Grab the small loaf-shaped bread and drop it into the black skillet.", + "Grab the soft rectangular bread loaf and set it in the iron skillet for frying foods", + "Pick up the bread loaf medium-sized and drop it into the round cast-iron skillet", + "Grab the soft rectangular bread loaf and place it in the iron skillet for frying foods", + "Pick the soft rectangular bread loaf up and place it in the black skillet", + "Take the bread loaf medium-sized and put it in the round cast-iron skillet", + "Grab the bread loaf medium-sized and place it into the black skillet.", + "Move the bread loaf medium-sized to the round cast-iron skillet using the left arm.", + "Use the left arm to grab the small loaf-shaped bread and set it in the black skillet", + "Use the left arm to move the bread loaf medium-sized to the black skillet.", + "Grab the bread loaf medium-sized and drop it into the iron skillet for frying foods.", + "Grab the soft rectangular bread loaf and set it in the black skillet", + "Pick up the bread loaf medium-sized and drop it into the round cast-iron skillet", + "Grab the soft rectangular bread loaf and place it in the round cast-iron skillet", + "Pick the soft rectangular bread loaf up and place it in the black skillet", + "Take the bread loaf medium-sized and put it in the round cast-iron skillet", + "Grab the small loaf-shaped bread and place it into the black skillet.", + "Move the bread loaf medium-sized to the black skillet using the left arm.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the round cast-iron skillet", + "Use the left arm to move the soft rectangular bread loaf to the iron skillet for frying foods.", + "Grab the soft rectangular bread loaf and drop it into the round cast-iron skillet.", + "Grab the soft rectangular bread loaf and set it in the round cast-iron skillet", + "Pick up the small loaf-shaped bread and drop it into the iron skillet for frying foods", + "Grab the small loaf-shaped bread and place it in the black skillet", + "Pick the soft rectangular bread loaf up and place it in the black skillet", + "Take the small loaf-shaped bread and put it in the black skillet", + "Grab the soft rectangular bread loaf and place it into the black skillet.", + "Move the small loaf-shaped bread to the iron skillet for frying foods using the left arm.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the round cast-iron skillet", + "Use the left arm to move the soft rectangular bread loaf to the black skillet.", + "Grab the small loaf-shaped bread and drop it into the black skillet.", + "Grab the bread loaf medium-sized and set it in the black skillet", + "Pick up the soft rectangular bread loaf and drop it into the black skillet", + "Grab the soft rectangular bread loaf and place it in the round cast-iron skillet", + "Pick the bread loaf medium-sized up and place it in the round cast-iron skillet", + "Take the small loaf-shaped bread and put it in the iron skillet for frying foods", + "Grab the bread loaf medium-sized and place it into the black skillet.", + "Move the small loaf-shaped bread to the round cast-iron skillet using the left arm.", + "Use the left arm to grab the bread loaf medium-sized and set it in the black skillet", + "Use the left arm to move the soft rectangular bread loaf to the black skillet.", + "Grab the bread loaf medium-sized and drop it into the round cast-iron skillet.", + "Grab the small loaf-shaped bread and set it in the round cast-iron skillet", + "Pick up the bread loaf medium-sized and drop it into the round cast-iron skillet", + "Grab the bread loaf medium-sized and place it in the black skillet", + "Pick the small loaf-shaped bread up and place it in the round cast-iron skillet", + "Take the soft rectangular bread loaf and put it in the black skillet", + "Grab the soft rectangular bread loaf and place it into the black skillet.", + "Move the bread loaf medium-sized to the round cast-iron skillet using the left arm.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the iron skillet for frying foods", + "Use the left arm to move the bread loaf medium-sized to the iron skillet for frying foods.", + "Grab the bread loaf medium-sized and drop it into the iron skillet for frying foods.", + "Grab the small loaf-shaped bread and set it in the black skillet", + "Pick up the soft rectangular bread loaf and drop it into the round cast-iron skillet", + "Grab the soft rectangular bread loaf and place it in the round cast-iron skillet", + "Pick the bread loaf medium-sized up and place it in the iron skillet for frying foods", + "Take the bread loaf medium-sized and put it in the iron skillet for frying foods", + "Grab the bread loaf medium-sized and place it into the black skillet.", + "Move the small loaf-shaped bread to the iron skillet for frying foods using the left arm.", + "Use the left arm to grab the bread loaf medium-sized and set it in the iron skillet for frying foods", + "Use the left arm to move the small loaf-shaped bread to the round cast-iron skillet.", + "Grab the bread loaf medium-sized and drop it into the iron skillet for frying foods.", + "Grab the bread loaf medium-sized and set it in the iron skillet for frying foods", + "Pick up the soft rectangular bread loaf and drop it into the round cast-iron skillet", + "Grab the bread loaf medium-sized and place it in the round cast-iron skillet", + "Pick the soft rectangular bread loaf up and place it in the black skillet", + "Take the small loaf-shaped bread and put it in the iron skillet for frying foods", + "Grab the small loaf-shaped bread and place it into the black skillet.", + "Move the soft rectangular bread loaf to the black skillet using the left arm.", + "Use the left arm to grab the bread loaf medium-sized and set it in the round cast-iron skillet", + "Use the left arm to move the small loaf-shaped bread to the round cast-iron skillet.", + "Grab the small loaf-shaped bread and drop it into the round cast-iron skillet.", + "Grab the bread loaf medium-sized and set it in the black skillet", + "Pick up the soft rectangular bread loaf and drop it into the round cast-iron skillet", + "Grab the bread loaf medium-sized and place it in the round cast-iron skillet", + "Pick the small loaf-shaped bread up and place it in the black skillet", + "Take the soft rectangular bread loaf and put it in the iron skillet for frying foods", + "Grab the small loaf-shaped bread and place it into the iron skillet for frying foods.", + "Move the small loaf-shaped bread to the round cast-iron skillet using the left arm.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the round cast-iron skillet", + "Use the left arm to move the small loaf-shaped bread to the iron skillet for frying foods.", + "Grab the small loaf-shaped bread and drop it into the iron skillet for frying foods.", + "Grab the small loaf-shaped bread and set it in the round cast-iron skillet", + "Pick up the small loaf-shaped bread and drop it into the iron skillet for frying foods", + "Grab the bread loaf medium-sized and place it in the round cast-iron skillet", + "Pick the soft rectangular bread loaf up and place it in the iron skillet for frying foods", + "Take the soft rectangular bread loaf and put it in the black skillet", + "Grab the soft rectangular bread loaf and place it into the round cast-iron skillet.", + "Move the bread loaf medium-sized to the black skillet using the left arm.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the black skillet", + "Use the left arm to move the small loaf-shaped bread to the round cast-iron skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode11.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..2955550555c413f8f988a753e744bd4fa308452b --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the golden brown loaf-shaped bread into the metal skillet with comfortable grip from the table", + "Grab the rectangular bread soft inside with the left arm and place in the gray skillet for stovetop cooking", + "Grab the square loaf of bread and place it inside the black-surfaced skillet with gray sides", + "Grab the brown bread loaf using the left arm and place it in the smooth non-stick skillet", + "Use the left arm to pick the bread with rounded corners and place it into the skillet with black cooking surface.", + "Place the golden brown loaf-shaped bread into the dark gray skillet with the left arm.", + "Grab the square loaf of bread and drop it into the round skillet with open handle end", + "Use the left arm to stick the rectangular bread soft inside into the round skillet with handle.", + "Pick the golden bread with the left arm and set it in the smooth non-stick skillet", + "Use the left arm to move the bread with firm crust edges and set it into the smooth non-stick skillet.", + "Use the left arm to take the brown bread loaf and move it into the round skillet with handle.", + "Move the bread with rounded corners to the gray skillet for stovetop cooking using the left arm", + "Set the rectangular bread soft inside into the round skillet with open handle end after grabbing", + "Use the left arm to grab the slice-shaped bread for the flat-bottom skillet", + "Take the soft golden baked bread and drop it into the smooth non-stick skillet.", + "Put the bread with firm crust edges into the black-surfaced skillet with gray sides.", + "Take the golden brown loaf-shaped bread and put it in the dark gray skillet.", + "Lift the golden brown loaf-shaped bread using the left arm and move it to the metal skillet", + "Use the left arm to pick the soft golden baked bread for the metal skillet with comfortable grip", + "Use the left arm to pick the brown bread loaf and put it in the metal skillet", + "Place the soft golden baked bread into the medium-sized frying skillet using the left arm", + "Grab the golden bread from the table and set it in the skillet with black cooking surface.", + "Take the bread loaf with square shape off the table into the gray skillet for stovetop cooking", + "Use the left arm to pick the rectangular bread soft inside up for the round skillet with open handle end", + "Grab the golden brown loaf-shaped bread and stick it in the gray skillet for stovetop cooking.", + "Take the bread with firm crust edges and place it inside the skillet with black cooking surface", + "Place the golden brown loaf-shaped bread from the table into the skillet for frying food", + "Pick up the bread with golden surface color and place it in the round skillet with open handle end.", + "Take the slice-shaped bread and place it inside the round skillet with open handle end", + "Grab the brown bread loaf and place it inside the smooth non-stick skillet.", + "Take the golden crusted bread slice and put it in the dark gray skillet.", + "Use the left arm to set the soft golden baked bread into the smooth non-stick skillet.", + "Use the left arm to move the bread loaf with square shape into the skillet for frying food", + "Lift the square loaf of bread and drop it into the medium-sized frying skillet", + "Put the bread with firm crust edges into the skillet for frying food after grabbing it", + "Use the left arm to lift the slice-shaped bread and place it into the flat-bottom skillet.", + "Take the slice-shaped bread with the left arm and drop into the skillet for frying food", + "Lift the golden bread and drop it into the metal skillet with comfortable grip.", + "Take the bread with golden surface color and set it into the metal skillet with comfortable grip", + "Pick the bread with firm crust edges up using the left arm and drop it in the metal skillet.", + "Pick the golden bread and set it into the dark gray skillet.", + "Pick the golden crusted bread slice off the table and place it in the medium-sized frying skillet.", + "Use the left arm to grab the bread with rounded corners for the medium-sized frying skillet", + "Pick up the soft golden baked bread and put it in the skillet with black cooking surface", + "Transfer the slice-shaped bread into the black-surfaced skillet with gray sides from the table", + "Use the left arm to grab the bread with rounded corners and set it in the gray skillet for stovetop cooking.", + "Use the left arm to place the bread loaf with square shape into the smooth non-stick skillet", + "Move the bread with golden surface color from table into the skillet for frying food", + "Pick the bread with rounded corners and transfer it to the medium-sized frying skillet", + "Pick up the slice-shaped bread with the left arm and drop it in the dark gray skillet", + "Move the golden crusted bread slice into the smooth non-stick skillet from the table", + "Grab the soft golden baked bread with the left arm and place in the metal skillet with comfortable grip", + "Grab the square loaf of bread and place it inside the metal skillet with comfortable grip", + "Grab the bread with firm crust edges using the left arm and place it in the round skillet with handle", + "Use the left arm to pick the brown bread loaf and place it into the metal skillet with comfortable grip.", + "Place the brown bread loaf into the skillet with black cooking surface with the left arm.", + "Grab the slice-shaped bread and drop it into the flat-bottom skillet", + "Use the left arm to stick the golden brown loaf-shaped bread into the skillet for frying food.", + "Pick the bread with golden surface color with the left arm and set it in the skillet with black cooking surface", + "Use the left arm to move the square loaf of bread and set it into the dark gray skillet.", + "Use the left arm to take the golden crusted bread slice and move it into the gray skillet for stovetop cooking.", + "Move the bread with firm crust edges to the gray skillet for stovetop cooking using the left arm", + "Set the bread with firm crust edges into the dark gray skillet after grabbing", + "Use the left arm to grab the bread with rounded corners for the dark gray skillet", + "Take the bread with golden surface color and drop it into the black-surfaced skillet with gray sides.", + "Put the bread with firm crust edges into the skillet with black cooking surface.", + "Take the bread loaf with square shape and put it in the black-surfaced skillet with gray sides.", + "Lift the golden brown loaf-shaped bread using the left arm and move it to the smooth non-stick skillet", + "Use the left arm to pick the slice-shaped bread for the skillet for frying food", + "Use the left arm to pick the square loaf of bread and put it in the round skillet with handle", + "Place the rectangular bread soft inside into the medium-sized frying skillet using the left arm", + "Grab the bread loaf with square shape from the table and set it in the skillet for frying food.", + "Take the slice-shaped bread off the table into the round skillet with open handle end", + "Use the left arm to pick the soft golden baked bread up for the dark gray skillet", + "Grab the rectangular bread soft inside and stick it in the gray skillet for stovetop cooking.", + "Take the bread with golden surface color and place it inside the gray skillet for stovetop cooking", + "Place the soft golden baked bread from the table into the round skillet with handle", + "Pick up the soft golden baked bread and place it in the round skillet with open handle end.", + "Take the golden bread and place it inside the round skillet with handle", + "Grab the golden brown loaf-shaped bread and place it inside the gray skillet for stovetop cooking.", + "Take the soft golden baked bread and put it in the flat-bottom skillet.", + "Use the left arm to set the slice-shaped bread into the black-surfaced skillet with gray sides.", + "Use the left arm to move the brown bread loaf into the metal skillet", + "Lift the slice-shaped bread and drop it into the smooth non-stick skillet", + "Put the square loaf of bread into the metal skillet with comfortable grip after grabbing it", + "Use the left arm to lift the slice-shaped bread and place it into the gray skillet for stovetop cooking.", + "Take the soft golden baked bread with the left arm and drop into the medium-sized frying skillet", + "Lift the slice-shaped bread and drop it into the metal skillet.", + "Take the rectangular bread soft inside and set it into the metal skillet", + "Pick the bread with golden surface color up using the left arm and drop it in the black-surfaced skillet with gray sides.", + "Pick the brown bread loaf and set it into the medium-sized frying skillet.", + "Pick the golden brown loaf-shaped bread off the table and place it in the round skillet with open handle end.", + "Use the left arm to grab the soft golden baked bread for the gray skillet for stovetop cooking", + "Pick up the square loaf of bread and put it in the medium-sized frying skillet", + "Transfer the brown bread loaf into the flat-bottom skillet from the table", + "Use the left arm to grab the square loaf of bread and set it in the gray skillet for stovetop cooking.", + "Use the left arm to place the bread with firm crust edges into the flat-bottom skillet", + "Move the rectangular bread soft inside from table into the dark gray skillet", + "Pick the square loaf of bread and transfer it to the metal skillet", + "Pick up the slice-shaped bread with the left arm and drop it in the round skillet with open handle end" + ], + "unseen": [ + "Grab the small loaf-shaped bread and drop it into the dark skillet with shiny finish.", + "Pick up the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Move the soft rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Pick the bread loaf medium-sized up and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle.", + "Pick up the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Take the bread loaf medium-sized and put it in the pan-shaped skillet with hole in handle", + "Move the small loaf-shaped bread to the dark skillet with shiny finish using the left arm.", + "Pick the soft rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it in the versatile skillet for frying and sauteing", + "Use the left arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Grab the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick up the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Take the soft rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Move the soft rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Pick the soft rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and place it in the dark skillet with shiny finish", + "Use the left arm to move the small loaf-shaped bread to the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing.", + "Pick up the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Take the soft rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Move the soft rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Pick the soft rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread loaf medium-sized to the versatile skillet for frying and sauteing.", + "Use the left arm to grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Pick up the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Take the soft rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Move the bread loaf medium-sized to the versatile skillet for frying and sauteing using the left arm.", + "Pick the bread loaf medium-sized up and place it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it in the dark skillet with shiny finish", + "Use the left arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle.", + "Pick up the small loaf-shaped bread and drop it into the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Take the bread loaf medium-sized and put it in the pan-shaped skillet with hole in handle", + "Move the small loaf-shaped bread to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the small loaf-shaped bread up and place it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it in the dark skillet with shiny finish", + "Use the left arm to move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Grab the small loaf-shaped bread and drop it into the dark skillet with shiny finish.", + "Pick up the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Take the bread loaf medium-sized and put it in the dark skillet with shiny finish", + "Move the bread loaf medium-sized to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the soft rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and place it in the dark skillet with shiny finish", + "Use the left arm to move the soft rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Use the left arm to grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing.", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Move the bread loaf medium-sized to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the small loaf-shaped bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and place it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread loaf medium-sized to the dark skillet with shiny finish.", + "Use the left arm to grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle.", + "Pick up the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Take the soft rectangular bread loaf and put it in the dark skillet with shiny finish", + "Move the small loaf-shaped bread to the versatile skillet for frying and sauteing using the left arm.", + "Pick the small loaf-shaped bread up and place it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it in the dark skillet with shiny finish", + "Use the left arm to move the soft rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Use the left arm to grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle.", + "Pick up the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Move the bread loaf medium-sized to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the bread loaf medium-sized up and place it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it in the dark skillet with shiny finish", + "Use the left arm to move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and place it into the versatile skillet for frying and sauteing." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode12.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..464549dcb6726e9b1787eced603c122e295ba35d --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the bread with soft texture into the metal skillet from the table", + "Pick the medium bread with rounded sides off the table and place it in the smooth non-stick skillet.", + "Take the fluffy baked bread and put it in the black-surfaced skillet with gray sides.", + "Grab the bread with rounded edges and place it inside the smooth non-stick skillet.", + "Take the medium-sized bread piece with the right arm and drop into the smooth non-stick skillet", + "Use the right arm to grab the bread with soft texture and set it in the black-surfaced skillet with gray sides.", + "Set the square-shaped bread piece into the skillet for frying food after grabbing", + "Pick up the soft square bread and put it in the metal skillet with comfortable grip", + "Grab the golden brown bread using the right arm and place it in the round skillet with handle", + "Grab the golden brown bread with the right arm and place in the round skillet with handle", + "Grab the golden brown bread from the table and set it in the black-surfaced skillet with gray sides.", + "Place the fluffy baked bread into the flat-bottom skillet with the right arm.", + "Grab the rounded square loaf and place it inside the dark gray skillet", + "Move the medium-sized bread piece from table into the smooth non-stick skillet", + "Grab the rounded square loaf and drop it into the medium-sized frying skillet", + "Grab the rounded square loaf and stick it in the flat-bottom skillet.", + "Lift the rounded square loaf and drop it into the round skillet with open handle end", + "Use the right arm to lift the medium bread with rounded sides and place it into the gray skillet for stovetop cooking.", + "Use the right arm to pick the golden brown bread and place it into the skillet for frying food.", + "Move the medium-sized bread piece to the smooth non-stick skillet using the right arm", + "Use the right arm to grab the bread with soft texture for the skillet for frying food", + "Use the right arm to pick the sponge-textured golden bread and put it in the dark gray skillet", + "Use the right arm to take the golden baked bread and move it into the round skillet with open handle end.", + "Use the right arm to stick the golden baked bread into the skillet for frying food.", + "Pick the bread with soft texture up using the right arm and drop it in the smooth non-stick skillet.", + "Take the bread with rounded edges off the table into the flat-bottom skillet", + "Pick the golden baked bread and set it into the gray skillet for stovetop cooking.", + "Use the right arm to move the golden brown bread and set it into the medium-sized frying skillet.", + "Pick the fluffy baked bread and transfer it to the metal skillet with comfortable grip", + "Place the medium bread with rounded sides into the smooth non-stick skillet using the right arm", + "Take the fluffy baked bread and place it inside the flat-bottom skillet", + "Pick up the soft square bread and place it in the skillet for frying food.", + "Pick the bread with soft texture with the right arm and set it in the round skillet with handle", + "Lift the sponge-textured golden bread using the right arm and move it to the dark gray skillet", + "Place the square-shaped bread piece from the table into the round skillet with handle", + "Use the right arm to grab the bread with soft texture for the metal skillet", + "Use the right arm to place the bread with soft texture into the metal skillet", + "Use the right arm to pick the medium bread with rounded sides up for the round skillet with open handle end", + "Lift the sponge-textured golden bread and drop it into the skillet for frying food.", + "Transfer the medium bread with rounded sides into the black-surfaced skillet with gray sides from the table", + "Use the right arm to set the soft square bread into the gray skillet for stovetop cooking.", + "Take the golden brown bread and place it inside the skillet for frying food", + "Put the bread with rounded edges into the black-surfaced skillet with gray sides after grabbing it", + "Put the sponge-textured golden bread into the dark gray skillet.", + "Take the golden brown bread and drop it into the round skillet with handle.", + "Use the right arm to pick the golden baked bread for the metal skillet", + "Take the golden baked bread and set it into the flat-bottom skillet", + "Use the right arm to move the sponge-textured golden bread into the skillet for frying food", + "Pick up the rounded square loaf with the right arm and drop it in the skillet with black cooking surface", + "Take the fluffy baked bread and put it in the gray skillet for stovetop cooking.", + "Move the medium-sized bread piece into the round skillet with open handle end from the table", + "Pick the golden brown bread off the table and place it in the flat-bottom skillet.", + "Take the light brown porous bread and put it in the metal skillet.", + "Grab the soft square bread and place it inside the flat-bottom skillet.", + "Take the bread with rounded edges with the right arm and drop into the flat-bottom skillet", + "Use the right arm to grab the bread with rounded edges and set it in the gray skillet for stovetop cooking.", + "Set the square-shaped bread piece into the skillet for frying food after grabbing", + "Pick up the bread with soft texture and put it in the round skillet with open handle end", + "Grab the golden baked bread using the right arm and place it in the skillet with black cooking surface", + "Grab the bread with soft texture with the right arm and place in the dark gray skillet", + "Grab the rounded square loaf from the table and set it in the round skillet with handle.", + "Place the medium-sized bread piece into the gray skillet for stovetop cooking with the right arm.", + "Grab the fluffy baked bread and place it inside the gray skillet for stovetop cooking", + "Move the soft square bread from table into the medium-sized frying skillet", + "Grab the fluffy baked bread and drop it into the round skillet with handle", + "Grab the sponge-textured golden bread and stick it in the skillet with black cooking surface.", + "Lift the medium-sized bread piece and drop it into the gray skillet for stovetop cooking", + "Use the right arm to lift the bread with soft texture and place it into the black-surfaced skillet with gray sides.", + "Use the right arm to pick the medium-sized bread piece and place it into the dark gray skillet.", + "Move the medium bread with rounded sides to the gray skillet for stovetop cooking using the right arm", + "Use the right arm to grab the bread with soft texture for the metal skillet", + "Use the right arm to pick the bread with rounded edges and put it in the metal skillet", + "Use the right arm to take the rounded square loaf and move it into the skillet for frying food.", + "Use the right arm to stick the fluffy baked bread into the metal skillet with comfortable grip.", + "Pick the golden brown bread up using the right arm and drop it in the gray skillet for stovetop cooking.", + "Take the fluffy baked bread off the table into the dark gray skillet", + "Pick the light brown porous bread and set it into the metal skillet with comfortable grip.", + "Use the right arm to move the sponge-textured golden bread and set it into the gray skillet for stovetop cooking.", + "Pick the sponge-textured golden bread and transfer it to the medium-sized frying skillet", + "Place the medium bread with rounded sides into the skillet for frying food using the right arm", + "Take the fluffy baked bread and place it inside the metal skillet", + "Pick up the golden baked bread and place it in the gray skillet for stovetop cooking.", + "Pick the soft square bread with the right arm and set it in the dark gray skillet", + "Lift the medium-sized bread piece using the right arm and move it to the metal skillet with comfortable grip", + "Place the light brown porous bread from the table into the flat-bottom skillet", + "Use the right arm to grab the bread with soft texture for the skillet with black cooking surface", + "Use the right arm to place the square-shaped bread piece into the dark gray skillet", + "Use the right arm to pick the golden baked bread up for the round skillet with handle", + "Lift the medium-sized bread piece and drop it into the smooth non-stick skillet.", + "Transfer the golden brown bread into the skillet with black cooking surface from the table", + "Use the right arm to set the light brown porous bread into the flat-bottom skillet.", + "Take the medium-sized bread piece and place it inside the gray skillet for stovetop cooking", + "Put the sponge-textured golden bread into the skillet for frying food after grabbing it", + "Put the fluffy baked bread into the flat-bottom skillet.", + "Take the bread with rounded edges and drop it into the metal skillet with comfortable grip.", + "Use the right arm to pick the square-shaped bread piece for the smooth non-stick skillet", + "Take the rounded square loaf and set it into the round skillet with open handle end", + "Use the right arm to move the golden brown bread into the metal skillet with comfortable grip", + "Pick up the square-shaped bread piece with the right arm and drop it in the gray skillet for stovetop cooking", + "Take the medium-sized bread piece and put it in the smooth non-stick skillet." + ], + "unseen": [ + "Use the right arm to grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Use the right arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the versatile skillet for frying and sauteing.", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Pick the soft bread with golden edges up and place it in the versatile skillet for frying and sauteing", + "Move the square bread with light spots to the dark skillet with shiny finish using the right arm.", + "Take the spongy golden brown bread and put it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and drop it into the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it into the dark skillet with shiny finish.", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the versatile skillet for frying and sauteing using the right arm.", + "Take the spongy golden brown bread and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and drop it into the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Pick the square bread with light spots up and place it in the dark skillet with shiny finish", + "Move the square bread with light spots to the versatile skillet for frying and sauteing using the right arm.", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the soft bread with golden edges to the dark skillet with shiny finish.", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the right arm.", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Use the right arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it into the dark skillet with shiny finish.", + "Pick up the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing", + "Pick the square bread with light spots up and place it in the pan-shaped skillet with hole in handle", + "Move the soft bread with golden edges to the dark skillet with shiny finish using the right arm.", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing.", + "Grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Pick up the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle", + "Pick the soft bread with golden edges up and place it in the versatile skillet for frying and sauteing", + "Move the square bread with light spots to the dark skillet with shiny finish using the right arm.", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Use the right arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Pick up the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle", + "Pick the square bread with light spots up and place it in the pan-shaped skillet with hole in handle", + "Move the soft bread with golden edges to the dark skillet with shiny finish using the right arm.", + "Take the spongy golden brown bread and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Pick up the square bread with light spots and drop it into the versatile skillet for frying and sauteing", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Move the square bread with light spots to the versatile skillet for frying and sauteing using the right arm.", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Use the right arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Use the right arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Pick up the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle", + "Pick the soft bread with golden edges up and place it in the pan-shaped skillet with hole in handle", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the right arm.", + "Take the spongy golden brown bread and put it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Pick up the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Move the soft bread with golden edges to the dark skillet with shiny finish using the right arm.", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode13.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..eb5487cfa8da7c27786ac17ffebda88d487f9b06 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put the bread with split top into the solid dark-colored round pan after grabbing it", + "Transfer the bread with warm golden color into the versatile skillet for stovetop cooking from the table", + "Grab the bread with warm golden color and place it inside the solid dark-colored round pan.", + "Take the light brown loaf with smooth sides and drop it into the black pan with curved edges.", + "Use the right arm to place the hand-sized oval loaf into the black pan with curved edges", + "Take the bread with split top and place it inside the heavy black cooking skillet", + "Grab the golden bread loaf using the right arm and place it in the skillet with extended grip handle", + "Pick the bread with warm golden color off the table and place it in the skillet with extended grip handle.", + "Grab the hand-sized oval loaf with the right arm and place in the black skillet with smooth base", + "Use the right arm to pick the smooth loaf with rounded edges and place it into the skillet with extended grip handle.", + "Use the right arm to lift the small loaf with curved top and place it into the skillet with extended grip handle.", + "Move the light brown loaf with smooth sides from table into the black pan with curved edges", + "Pick the light brown loaf with smooth sides and set it into the black skillet with smooth base.", + "Use the right arm to grab the golden bread loaf and set it in the round cooking pan.", + "Set the bread with golden-brown crust into the versatile skillet for stovetop cooking after grabbing", + "Grab the golden bread loaf from the table and set it in the round pan with hole in handle.", + "Pick the small loaf with curved top up using the right arm and drop it in the round pan with hole in handle.", + "Grab the brown loaf and place it inside the versatile skillet for stovetop cooking", + "Use the right arm to stick the small loaf with curved top into the smooth round pan made of iron.", + "Pick the small golden brown bread and transfer it to the flat-bottomed skillet with long handle", + "Lift the small golden brown bread using the right arm and move it to the medium black pan with handle", + "Pick up the light brown bread with ridges with the right arm and drop it in the black pan with curved edges", + "Use the right arm to grab the hand-sized oval loaf for the solid dark-colored round pan", + "Take the hand-sized oval loaf with the right arm and drop into the flat-bottomed skillet with long handle", + "Use the right arm to pick the light brown bread with ridges and put it in the black skillet with smooth base", + "Place the light brown bread with ridges into the flat-bottomed skillet with long handle with the right arm.", + "Take the smooth loaf with rounded edges and put it in the smooth round pan made of iron.", + "Move the bread with warm golden color to the solid dark-colored round pan using the right arm", + "Grab the smooth loaf with rounded edges and drop it into the flat-bottomed skillet with long handle", + "Grab the small loaf with curved top and stick it in the solid dark-colored round pan.", + "Use the right arm to take the hand-sized oval loaf and move it into the round cooking pan.", + "Use the right arm to move the brown loaf and set it into the smooth round pan made of iron.", + "Place the golden bread loaf into the dark pan with sturdy grip using the right arm", + "Move the brown loaf into the round pan with hole in handle from the table", + "Use the right arm to pick the hand-sized oval loaf for the versatile skillet for stovetop cooking", + "Put the bread with split top into the heavy black cooking skillet.", + "Lift the hand-sized oval loaf and drop it into the skillet with extended grip handle", + "Use the right arm to pick the light brown loaf with smooth sides up for the black skillet with smooth base", + "Take the light brown loaf with smooth sides and set it into the solid dark-colored round pan", + "Pick the soft brown bread with the right arm and set it in the skillet with extended grip handle", + "Take the golden bread loaf and place it inside the versatile skillet for stovetop cooking", + "Use the right arm to set the bread with warm golden color into the medium black pan with handle.", + "Use the right arm to grab the soft brown bread for the dark pan with sturdy grip", + "Pick up the light brown loaf with smooth sides and put it in the medium black pan with handle", + "Take the brown loaf off the table into the versatile skillet for stovetop cooking", + "Lift the bread with warm golden color and drop it into the black pan with curved edges.", + "Place the small loaf with curved top from the table into the solid dark-colored round pan", + "Take the soft brown bread and put it in the solid dark-colored round pan.", + "Use the right arm to move the soft brown bread into the black pan with curved edges", + "Pick up the bread with split top and place it in the dark pan with sturdy grip.", + "Put the small loaf with curved top into the flat-bottomed skillet with long handle after grabbing it", + "Transfer the hand-sized oval loaf into the round pan with hole in handle from the table", + "Grab the light brown loaf with smooth sides and place it inside the round pan with hole in handle.", + "Take the brown loaf and drop it into the medium black pan with handle.", + "Use the right arm to place the small golden brown bread into the heavy black cooking skillet", + "Take the brown loaf and place it inside the solid dark-colored round pan", + "Grab the bread with warm golden color using the right arm and place it in the versatile skillet for stovetop cooking", + "Pick the hand-sized oval loaf off the table and place it in the solid dark-colored round pan.", + "Grab the hand-sized oval loaf with the right arm and place in the smooth round pan made of iron", + "Use the right arm to pick the golden bread loaf and place it into the round cooking pan.", + "Use the right arm to lift the bread with split top and place it into the round pan with hole in handle.", + "Move the bread with golden-brown crust from table into the skillet with extended grip handle", + "Pick the bread with warm golden color and set it into the skillet with extended grip handle.", + "Use the right arm to grab the hand-sized oval loaf and set it in the round cooking pan.", + "Set the light brown bread with ridges into the medium black pan with handle after grabbing", + "Grab the hand-sized oval loaf from the table and set it in the medium black pan with handle.", + "Pick the hand-sized oval loaf up using the right arm and drop it in the smooth round pan made of iron.", + "Grab the light brown bread with ridges and place it inside the round cooking pan", + "Use the right arm to stick the smooth loaf with rounded edges into the black pan with curved edges.", + "Pick the bread with golden-brown crust and transfer it to the flat-bottomed skillet with long handle", + "Lift the hand-sized oval loaf using the right arm and move it to the black skillet with smooth base", + "Pick up the bread with golden-brown crust with the right arm and drop it in the round pan with hole in handle", + "Use the right arm to grab the light brown bread with ridges for the skillet with extended grip handle", + "Take the bread with warm golden color with the right arm and drop into the versatile skillet for stovetop cooking", + "Use the right arm to pick the brown loaf and put it in the flat-bottomed skillet with long handle", + "Place the bread with warm golden color into the heavy black cooking skillet with the right arm.", + "Take the light brown loaf with smooth sides and put it in the dark pan with sturdy grip.", + "Move the smooth loaf with rounded edges to the smooth round pan made of iron using the right arm", + "Grab the brown loaf and drop it into the medium black pan with handle", + "Grab the bread with split top and stick it in the medium black pan with handle.", + "Use the right arm to take the light brown bread with ridges and move it into the solid dark-colored round pan.", + "Use the right arm to move the light brown loaf with smooth sides and set it into the skillet with extended grip handle.", + "Place the bread with golden-brown crust into the round pan with hole in handle using the right arm", + "Move the hand-sized oval loaf into the black pan with curved edges from the table", + "Use the right arm to pick the light brown loaf with smooth sides for the round pan with hole in handle", + "Put the light brown loaf with smooth sides into the flat-bottomed skillet with long handle.", + "Lift the light brown bread with ridges and drop it into the medium black pan with handle", + "Use the right arm to pick the bread with split top up for the heavy black cooking skillet", + "Take the golden bread loaf and set it into the round pan with hole in handle", + "Pick the light brown loaf with smooth sides with the right arm and set it in the medium black pan with handle", + "Take the light brown bread with ridges and place it inside the heavy black cooking skillet", + "Use the right arm to set the brown loaf into the flat-bottomed skillet with long handle.", + "Use the right arm to grab the smooth loaf with rounded edges for the medium black pan with handle", + "Pick up the small golden brown bread and put it in the heavy black cooking skillet", + "Take the smooth loaf with rounded edges off the table into the round pan with hole in handle", + "Lift the bread with split top and drop it into the skillet with extended grip handle.", + "Place the small golden brown bread from the table into the skillet with extended grip handle", + "Take the brown loaf and put it in the versatile skillet for stovetop cooking.", + "Use the right arm to move the bread with split top into the skillet with extended grip handle", + "Pick up the smooth loaf with rounded edges and place it in the heavy black cooking skillet." + ], + "unseen": [ + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Take the rounded oval bread and put it in the black skillet", + "Pick the oval bread up and place it in the black skillet", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Take the oval-shaped soft bread and put it in the black skillet", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Move the rounded oval bread to the black skillet using the right arm.", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Take the rounded oval bread and put it in the black skillet", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Grab the oval bread and drop it into the black skillet.", + "Grab the oval bread and set it in the black skillet", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Grab the rounded oval bread and set it in the black skillet", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Grab the oval bread and place it in the black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Take the oval bread and put it in the black skillet", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the black skillet", + "Grab the oval bread and place it in the round cast-iron skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Take the oval bread and put it in the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the black skillet", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Grab the rounded oval bread and drop it into the black skillet.", + "Grab the rounded oval bread and set it in the black skillet", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Grab the oval bread and place it in the round cast-iron skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Take the oval bread and put it in the round cast-iron skillet", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Move the oval bread to the round cast-iron skillet using the right arm.", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Grab the oval bread and place it into the black skillet.", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Grab the rounded oval bread and drop it into the black skillet.", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Use the right arm to move the oval bread to the black skillet.", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Pick the oval bread up and place it in the black skillet", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Grab the oval bread and drop it into the black skillet.", + "Grab the oval bread and set it in the black skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode14.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..9f8c7efaed9b375733c5d845dc394b7065dbf88d --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the square-shaped bread and place it inside the smooth non-stick skillet", + "Pick the bread block with light patches and transfer it to the gray skillet for stovetop cooking", + "Use the right arm to move the golden bread into the metal skillet with comfortable grip", + "Grab the soft bread with the right arm and place in the metal skillet", + "Pick the bread loaf with bumpy surface up using the right arm and drop it in the skillet with black cooking surface.", + "Place the doughy and soft bread into the medium-sized frying skillet with the right arm.", + "Transfer the square-shaped bread into the gray skillet for stovetop cooking from the table", + "Grab the cuboid bread and stick it in the metal skillet.", + "Take the hand-sized bread block and drop it into the skillet with black cooking surface.", + "Put the cuboid bread into the flat-bottom skillet after grabbing it", + "Place the bread loaf with uneven edges from the table into the round skillet with handle", + "Use the right arm to place the doughy and soft bread into the flat-bottom skillet", + "Pick up the bread loaf with uneven edges and place it in the round skillet with open handle end.", + "Take the golden bread and put it in the medium-sized frying skillet.", + "Use the right arm to pick the cuboid bread up for the smooth non-stick skillet", + "Move the square-shaped bread from table into the round skillet with handle", + "Take the golden bread loaf and place it inside the black-surfaced skillet with gray sides", + "Pick the golden bread with the right arm and set it in the medium-sized frying skillet", + "Move the hand-sized bread block into the metal skillet with comfortable grip from the table", + "Lift the bread with rough texture and drop it into the gray skillet for stovetop cooking", + "Grab the golden bread loaf from the table and set it in the dark gray skillet.", + "Use the right arm to grab the hand-sized bread block and set it in the dark gray skillet.", + "Lift the bread loaf with uneven edges using the right arm and move it to the metal skillet", + "Grab the golden bread and drop it into the metal skillet with comfortable grip", + "Place the light golden brown bread into the round skillet with open handle end using the right arm", + "Pick up the bread with rough texture and put it in the gray skillet for stovetop cooking", + "Pick the square-shaped bread off the table and place it in the metal skillet with comfortable grip.", + "Use the right arm to grab the light golden brown bread for the gray skillet for stovetop cooking", + "Pick the bread with rough texture and set it into the smooth non-stick skillet.", + "Move the cuboid bread to the round skillet with handle using the right arm", + "Use the right arm to stick the bread with rough texture into the black-surfaced skillet with gray sides.", + "Use the right arm to take the bread block with light patches and move it into the skillet for frying food.", + "Take the light golden brown bread with the right arm and drop into the round skillet with handle", + "Set the bread with rough texture into the flat-bottom skillet after grabbing", + "Use the right arm to pick the bread loaf with bumpy surface for the metal skillet with comfortable grip", + "Use the right arm to lift the golden bread loaf and place it into the metal skillet.", + "Use the right arm to set the bread with rough texture into the skillet with black cooking surface.", + "Take the golden bread loaf off the table into the metal skillet", + "Use the right arm to pick the bread block with light patches and place it into the metal skillet.", + "Grab the cuboid bread and place it inside the black-surfaced skillet with gray sides.", + "Pick up the bread block with light patches with the right arm and drop it in the dark gray skillet", + "Use the right arm to move the square-shaped bread and set it into the metal skillet.", + "Put the light golden brown bread into the skillet with black cooking surface.", + "Use the right arm to pick the bread block with light patches and put it in the gray skillet for stovetop cooking", + "Take the bread block with light patches and put it in the dark gray skillet.", + "Use the right arm to grab the bread loaf with bumpy surface for the metal skillet", + "Take the doughy and soft bread and set it into the flat-bottom skillet", + "Lift the cuboid bread and drop it into the dark gray skillet.", + "Grab the hand-sized bread block using the right arm and place it in the metal skillet", + "Grab the soft bread and place it inside the metal skillet with comfortable grip", + "Take the bread block with light patches and place it inside the round skillet with handle", + "Pick the cuboid bread and transfer it to the medium-sized frying skillet", + "Use the right arm to move the light golden brown bread into the gray skillet for stovetop cooking", + "Grab the bread block with light patches with the right arm and place in the skillet with black cooking surface", + "Pick the soft bread up using the right arm and drop it in the metal skillet with comfortable grip.", + "Place the square-shaped bread into the medium-sized frying skillet with the right arm.", + "Transfer the square-shaped bread into the flat-bottom skillet from the table", + "Grab the bread with rough texture and stick it in the smooth non-stick skillet.", + "Take the bread block with light patches and drop it into the medium-sized frying skillet.", + "Put the soft bread into the medium-sized frying skillet after grabbing it", + "Place the bread loaf with uneven edges from the table into the round skillet with handle", + "Use the right arm to place the golden bread into the flat-bottom skillet", + "Pick up the soft bread and place it in the gray skillet for stovetop cooking.", + "Take the golden bread loaf and put it in the round skillet with open handle end.", + "Use the right arm to pick the golden bread loaf up for the dark gray skillet", + "Move the soft bread from table into the dark gray skillet", + "Take the light golden brown bread and place it inside the metal skillet with comfortable grip", + "Pick the light golden brown bread with the right arm and set it in the skillet with black cooking surface", + "Move the doughy and soft bread into the black-surfaced skillet with gray sides from the table", + "Lift the cuboid bread and drop it into the metal skillet with comfortable grip", + "Grab the golden bread from the table and set it in the dark gray skillet.", + "Use the right arm to grab the bread loaf with bumpy surface and set it in the medium-sized frying skillet.", + "Lift the bread loaf with uneven edges using the right arm and move it to the dark gray skillet", + "Grab the doughy and soft bread and drop it into the round skillet with handle", + "Place the bread with rough texture into the smooth non-stick skillet using the right arm", + "Pick up the bread with rough texture and put it in the smooth non-stick skillet", + "Pick the square-shaped bread off the table and place it in the skillet for frying food.", + "Use the right arm to grab the hand-sized bread block for the metal skillet with comfortable grip", + "Pick the bread block with light patches and set it into the metal skillet with comfortable grip.", + "Move the bread loaf with uneven edges to the round skillet with open handle end using the right arm", + "Use the right arm to stick the cuboid bread into the skillet with black cooking surface.", + "Use the right arm to take the light golden brown bread and move it into the metal skillet.", + "Take the bread loaf with bumpy surface with the right arm and drop into the round skillet with handle", + "Set the square-shaped bread into the skillet with black cooking surface after grabbing", + "Use the right arm to pick the square-shaped bread for the smooth non-stick skillet", + "Use the right arm to lift the doughy and soft bread and place it into the gray skillet for stovetop cooking.", + "Use the right arm to set the bread with rough texture into the skillet for frying food.", + "Take the square-shaped bread off the table into the metal skillet with comfortable grip", + "Use the right arm to pick the golden bread and place it into the medium-sized frying skillet.", + "Grab the hand-sized bread block and place it inside the gray skillet for stovetop cooking.", + "Pick up the bread loaf with bumpy surface with the right arm and drop it in the medium-sized frying skillet", + "Use the right arm to move the doughy and soft bread and set it into the metal skillet with comfortable grip.", + "Put the hand-sized bread block into the round skillet with open handle end.", + "Use the right arm to pick the light golden brown bread and put it in the dark gray skillet", + "Take the bread loaf with bumpy surface and put it in the dark gray skillet.", + "Use the right arm to grab the golden bread for the skillet with black cooking surface", + "Take the cuboid bread and set it into the medium-sized frying skillet", + "Lift the bread with rough texture and drop it into the metal skillet with comfortable grip.", + "Grab the square-shaped bread using the right arm and place it in the black-surfaced skillet with gray sides", + "Grab the bread loaf with uneven edges and place it inside the smooth non-stick skillet" + ], + "unseen": [ + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the right arm.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Use the right arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Use the right arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Use the right arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Use the right arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Use the right arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Use the right arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the right arm.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode15.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..5e29d76978090bd3002b7ac336ec5733e211acfa --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the small golden brown bread and drop it into the skillet with extended grip handle.", + "Take the smooth loaf with rounded edges and place it inside the versatile skillet for stovetop cooking", + "Use the right arm to take the light brown loaf with smooth sides and move it into the round pan with hole in handle.", + "Take the bread with golden-brown crust and set it into the smooth round pan made of iron", + "Lift the bread with warm golden color using the right arm and move it to the black pan with curved edges", + "Use the right arm to grab the brown loaf for the black pan with curved edges", + "Place the soft brown bread into the dark pan with sturdy grip with the right arm.", + "Use the right arm to pick the smooth loaf with rounded edges for the smooth round pan made of iron", + "Pick up the hand-sized oval loaf and put it in the heavy black cooking skillet", + "Use the right arm to move the hand-sized oval loaf into the heavy black cooking skillet", + "Grab the light brown bread with ridges and place it inside the heavy black cooking skillet", + "Grab the bread with split top with the right arm and place in the round pan with hole in handle", + "Put the light brown loaf with smooth sides into the smooth round pan made of iron after grabbing it", + "Use the right arm to set the hand-sized oval loaf into the versatile skillet for stovetop cooking.", + "Use the right arm to grab the brown loaf and set it in the black skillet with smooth base.", + "Use the right arm to stick the light brown loaf with smooth sides into the skillet with extended grip handle.", + "Take the bread with golden-brown crust and put it in the black pan with curved edges.", + "Use the right arm to pick the light brown bread with ridges and put it in the smooth round pan made of iron", + "Grab the brown loaf from the table and set it in the skillet with extended grip handle.", + "Pick the light brown bread with ridges off the table and place it in the round cooking pan.", + "Take the bread with split top and drop it into the skillet with extended grip handle.", + "Use the right arm to place the hand-sized oval loaf into the skillet with extended grip handle", + "Take the light brown bread with ridges with the right arm and drop into the dark pan with sturdy grip", + "Lift the golden bread loaf and drop it into the black pan with curved edges", + "Use the right arm to move the bread with warm golden color and set it into the smooth round pan made of iron.", + "Move the bread with split top from table into the round pan with hole in handle", + "Grab the golden bread loaf and place it inside the round cooking pan.", + "Put the brown loaf into the flat-bottomed skillet with long handle.", + "Pick the golden bread loaf and transfer it to the medium black pan with handle", + "Pick up the bread with warm golden color and place it in the dark pan with sturdy grip.", + "Use the right arm to grab the bread with warm golden color for the round cooking pan", + "Move the soft brown bread to the dark pan with sturdy grip using the right arm", + "Grab the golden bread loaf and stick it in the black pan with curved edges.", + "Grab the bread with golden-brown crust and drop it into the dark pan with sturdy grip", + "Pick the light brown loaf with smooth sides up using the right arm and drop it in the versatile skillet for stovetop cooking.", + "Move the golden bread loaf into the black skillet with smooth base from the table", + "Grab the golden bread loaf using the right arm and place it in the smooth round pan made of iron", + "Transfer the bread with split top into the versatile skillet for stovetop cooking from the table", + "Use the right arm to pick the brown loaf up for the skillet with extended grip handle", + "Take the smooth loaf with rounded edges and place it inside the versatile skillet for stovetop cooking", + "Use the right arm to lift the hand-sized oval loaf and place it into the flat-bottomed skillet with long handle.", + "Take the smooth loaf with rounded edges off the table into the round cooking pan", + "Take the small golden brown bread and put it in the versatile skillet for stovetop cooking.", + "Pick the smooth loaf with rounded edges and set it into the heavy black cooking skillet.", + "Pick the light brown loaf with smooth sides with the right arm and set it in the smooth round pan made of iron", + "Place the golden bread loaf from the table into the black pan with curved edges", + "Place the small loaf with curved top into the flat-bottomed skillet with long handle using the right arm", + "Set the bread with golden-brown crust into the black pan with curved edges after grabbing", + "Use the right arm to pick the light brown loaf with smooth sides and place it into the smooth round pan made of iron.", + "Pick up the light brown loaf with smooth sides with the right arm and drop it in the versatile skillet for stovetop cooking", + "Lift the light brown loaf with smooth sides and drop it into the flat-bottomed skillet with long handle.", + "Take the golden bread loaf and place it inside the versatile skillet for stovetop cooking", + "Use the right arm to take the light brown bread with ridges and move it into the round cooking pan.", + "Take the bread with golden-brown crust and set it into the black pan with curved edges", + "Lift the golden bread loaf using the right arm and move it to the medium black pan with handle", + "Use the right arm to grab the small golden brown bread for the smooth round pan made of iron", + "Place the smooth loaf with rounded edges into the round pan with hole in handle with the right arm.", + "Use the right arm to pick the bread with split top for the heavy black cooking skillet", + "Pick up the small golden brown bread and put it in the dark pan with sturdy grip", + "Use the right arm to move the small golden brown bread into the solid dark-colored round pan", + "Grab the hand-sized oval loaf and place it inside the heavy black cooking skillet", + "Grab the bread with warm golden color with the right arm and place in the skillet with extended grip handle", + "Put the bread with split top into the round cooking pan after grabbing it", + "Use the right arm to set the soft brown bread into the black pan with curved edges.", + "Use the right arm to grab the hand-sized oval loaf and set it in the black skillet with smooth base.", + "Use the right arm to stick the bread with warm golden color into the dark pan with sturdy grip.", + "Take the bread with split top and put it in the flat-bottomed skillet with long handle.", + "Use the right arm to pick the bread with golden-brown crust and put it in the round cooking pan", + "Grab the golden bread loaf from the table and set it in the flat-bottomed skillet with long handle.", + "Pick the hand-sized oval loaf off the table and place it in the round pan with hole in handle.", + "Take the bread with warm golden color and drop it into the solid dark-colored round pan.", + "Use the right arm to place the bread with golden-brown crust into the skillet with extended grip handle", + "Take the bread with warm golden color with the right arm and drop into the black pan with curved edges", + "Lift the bread with split top and drop it into the dark pan with sturdy grip", + "Use the right arm to move the hand-sized oval loaf and set it into the round cooking pan.", + "Move the light brown loaf with smooth sides from table into the heavy black cooking skillet", + "Grab the golden bread loaf and place it inside the dark pan with sturdy grip.", + "Put the small golden brown bread into the skillet with extended grip handle.", + "Pick the bread with golden-brown crust and transfer it to the skillet with extended grip handle", + "Pick up the golden bread loaf and place it in the black skillet with smooth base.", + "Use the right arm to grab the soft brown bread for the skillet with extended grip handle", + "Move the golden bread loaf to the flat-bottomed skillet with long handle using the right arm", + "Grab the light brown loaf with smooth sides and stick it in the round cooking pan.", + "Grab the light brown loaf with smooth sides and drop it into the round cooking pan", + "Pick the bread with golden-brown crust up using the right arm and drop it in the round pan with hole in handle.", + "Move the golden bread loaf into the versatile skillet for stovetop cooking from the table", + "Grab the brown loaf using the right arm and place it in the black pan with curved edges", + "Transfer the soft brown bread into the flat-bottomed skillet with long handle from the table", + "Use the right arm to pick the bread with golden-brown crust up for the round pan with hole in handle", + "Take the bread with golden-brown crust and place it inside the round cooking pan", + "Use the right arm to lift the bread with split top and place it into the flat-bottomed skillet with long handle.", + "Take the light brown loaf with smooth sides off the table into the smooth round pan made of iron", + "Take the bread with split top and put it in the black skillet with smooth base.", + "Pick the brown loaf and set it into the dark pan with sturdy grip.", + "Pick the brown loaf with the right arm and set it in the medium black pan with handle", + "Place the bread with split top from the table into the black pan with curved edges", + "Place the small loaf with curved top into the round cooking pan using the right arm", + "Set the bread with golden-brown crust into the medium black pan with handle after grabbing", + "Use the right arm to pick the hand-sized oval loaf and place it into the round cooking pan.", + "Pick up the light brown loaf with smooth sides with the right arm and drop it in the heavy black cooking skillet" + ], + "unseen": [ + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Use the right arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the black skillet", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Use the right arm to move the oval bread to the iron skillet for frying foods.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Pick the oval bread up and place it in the black skillet", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Move the oval bread to the round cast-iron skillet using the right arm.", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Take the oval-shaped soft bread and put it in the black skillet", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Move the oval bread to the black skillet using the right arm.", + "Grab the oval bread and drop it into the black skillet.", + "Grab the rounded oval bread and place it into the black skillet.", + "Use the right arm to move the rounded oval bread to the black skillet.", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Grab the rounded oval bread and place it in the black skillet", + "Pick the rounded oval bread up and place it in the black skillet", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Grab the oval bread and place it in the round cast-iron skillet", + "Pick the rounded oval bread up and place it in the black skillet", + "Pick up the oval bread and drop it into the black skillet", + "Use the right arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Move the oval bread to the black skillet using the right arm.", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Use the right arm to move the oval bread to the iron skillet for frying foods.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the oval bread and set it in the iron skillet for frying foods", + "Grab the rounded oval bread and set it in the black skillet", + "Move the oval bread to the round cast-iron skillet using the right arm.", + "Grab the rounded oval bread and drop it into the black skillet.", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Move the oval bread to the black skillet using the right arm.", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Take the oval bread and put it in the iron skillet for frying foods", + "Grab the oval bread and place it in the round cast-iron skillet", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Pick up the oval bread and drop it into the black skillet", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the black skillet", + "Move the rounded oval bread to the black skillet using the right arm.", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Grab the oval bread and place it in the round cast-iron skillet", + "Pick the oval bread up and place it in the black skillet", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Take the rounded oval bread and put it in the black skillet", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the oval bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Grab the oval bread and drop it into the black skillet.", + "Grab the oval-shaped soft bread and place it into the black skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode16.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..5d65b3e7f96a3a45e028f87518a276cac66b5835 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the small loaf with curved top off the table and place it in the round skillet with handle.", + "Use the right arm to move the hand-sized oval loaf and set it into the skillet with black cooking surface.", + "Pick the small loaf with curved top up using the right arm and drop it in the flat-bottom skillet.", + "Pick up the small golden brown bread and put it in the round skillet with handle", + "Use the right arm to pick the light brown loaf with smooth sides and place it into the black-surfaced skillet with gray sides.", + "Grab the light brown bread with ridges from the table and set it in the metal skillet.", + "Place the soft brown bread into the dark gray skillet with the right arm.", + "Grab the hand-sized oval loaf using the right arm and place it in the medium-sized frying skillet", + "Use the right arm to grab the brown loaf for the round skillet with handle", + "Grab the small loaf with curved top and place it inside the metal skillet.", + "Take the soft brown bread with the right arm and drop into the dark gray skillet", + "Pick up the bread with split top with the right arm and drop it in the smooth non-stick skillet", + "Use the right arm to pick the small loaf with curved top and put it in the black-surfaced skillet with gray sides", + "Take the hand-sized oval loaf and drop it into the metal skillet.", + "Transfer the hand-sized oval loaf into the gray skillet for stovetop cooking from the table", + "Use the right arm to place the brown loaf into the flat-bottom skillet", + "Use the right arm to take the small loaf with curved top and move it into the dark gray skillet.", + "Pick the smooth loaf with rounded edges and transfer it to the skillet with black cooking surface", + "Use the right arm to stick the light brown loaf with smooth sides into the round skillet with open handle end.", + "Take the hand-sized oval loaf and place it inside the gray skillet for stovetop cooking", + "Grab the golden bread loaf and place it inside the round skillet with open handle end", + "Place the bread with split top into the dark gray skillet using the right arm", + "Move the golden bread loaf to the smooth non-stick skillet using the right arm", + "Put the bread with warm golden color into the metal skillet with comfortable grip after grabbing it", + "Take the small golden brown bread and place it inside the gray skillet for stovetop cooking", + "Use the right arm to grab the smooth loaf with rounded edges for the dark gray skillet", + "Use the right arm to pick the golden bread loaf up for the round skillet with open handle end", + "Use the right arm to move the bread with split top into the black-surfaced skillet with gray sides", + "Take the small golden brown bread off the table into the metal skillet", + "Grab the light brown bread with ridges and stick it in the flat-bottom skillet.", + "Take the smooth loaf with rounded edges and put it in the round skillet with open handle end.", + "Use the right arm to set the bread with golden-brown crust into the black-surfaced skillet with gray sides.", + "Lift the soft brown bread using the right arm and move it to the medium-sized frying skillet", + "Pick the bread with warm golden color with the right arm and set it in the flat-bottom skillet", + "Place the golden bread loaf from the table into the flat-bottom skillet", + "Take the smooth loaf with rounded edges and set it into the smooth non-stick skillet", + "Move the bread with split top from table into the flat-bottom skillet", + "Grab the bread with warm golden color and drop it into the dark gray skillet", + "Take the bread with split top and put it in the smooth non-stick skillet.", + "Pick up the bread with split top and place it in the round skillet with handle.", + "Lift the bread with split top and drop it into the black-surfaced skillet with gray sides", + "Use the right arm to pick the bread with golden-brown crust for the gray skillet for stovetop cooking", + "Put the bread with golden-brown crust into the flat-bottom skillet.", + "Grab the soft brown bread with the right arm and place in the medium-sized frying skillet", + "Move the bread with golden-brown crust into the dark gray skillet from the table", + "Lift the soft brown bread and drop it into the flat-bottom skillet.", + "Set the bread with warm golden color into the dark gray skillet after grabbing", + "Use the right arm to lift the brown loaf and place it into the medium-sized frying skillet.", + "Pick the bread with golden-brown crust and set it into the dark gray skillet.", + "Use the right arm to grab the hand-sized oval loaf and set it in the black-surfaced skillet with gray sides.", + "Pick the small golden brown bread off the table and place it in the dark gray skillet.", + "Use the right arm to move the bread with warm golden color and set it into the skillet for frying food.", + "Pick the light brown loaf with smooth sides up using the right arm and drop it in the dark gray skillet.", + "Pick up the small loaf with curved top and put it in the round skillet with open handle end", + "Use the right arm to pick the bread with warm golden color and place it into the black-surfaced skillet with gray sides.", + "Grab the golden bread loaf from the table and set it in the medium-sized frying skillet.", + "Place the golden bread loaf into the flat-bottom skillet with the right arm.", + "Grab the hand-sized oval loaf using the right arm and place it in the metal skillet with comfortable grip", + "Use the right arm to grab the light brown bread with ridges for the skillet for frying food", + "Grab the bread with warm golden color and place it inside the metal skillet with comfortable grip.", + "Take the small golden brown bread with the right arm and drop into the flat-bottom skillet", + "Pick up the smooth loaf with rounded edges with the right arm and drop it in the gray skillet for stovetop cooking", + "Use the right arm to pick the bread with warm golden color and put it in the gray skillet for stovetop cooking", + "Take the light brown bread with ridges and drop it into the dark gray skillet.", + "Transfer the small loaf with curved top into the metal skillet with comfortable grip from the table", + "Use the right arm to place the smooth loaf with rounded edges into the black-surfaced skillet with gray sides", + "Use the right arm to take the small golden brown bread and move it into the black-surfaced skillet with gray sides.", + "Pick the bread with warm golden color and transfer it to the round skillet with open handle end", + "Use the right arm to stick the smooth loaf with rounded edges into the dark gray skillet.", + "Take the light brown bread with ridges and place it inside the flat-bottom skillet", + "Grab the soft brown bread and place it inside the metal skillet", + "Place the bread with split top into the round skillet with handle using the right arm", + "Move the light brown bread with ridges to the black-surfaced skillet with gray sides using the right arm", + "Put the smooth loaf with rounded edges into the smooth non-stick skillet after grabbing it", + "Take the soft brown bread and place it inside the skillet for frying food", + "Use the right arm to grab the light brown loaf with smooth sides for the smooth non-stick skillet", + "Use the right arm to pick the small golden brown bread up for the skillet with black cooking surface", + "Use the right arm to move the golden bread loaf into the metal skillet with comfortable grip", + "Take the light brown bread with ridges off the table into the flat-bottom skillet", + "Grab the light brown bread with ridges and stick it in the skillet with black cooking surface.", + "Take the soft brown bread and put it in the skillet with black cooking surface.", + "Use the right arm to set the bread with split top into the dark gray skillet.", + "Lift the golden bread loaf using the right arm and move it to the flat-bottom skillet", + "Pick the small loaf with curved top with the right arm and set it in the skillet for frying food", + "Place the smooth loaf with rounded edges from the table into the metal skillet", + "Take the bread with split top and set it into the skillet with black cooking surface", + "Move the bread with warm golden color from table into the skillet for frying food", + "Grab the bread with split top and drop it into the dark gray skillet", + "Take the small loaf with curved top and put it in the black-surfaced skillet with gray sides.", + "Pick up the light brown loaf with smooth sides and place it in the round skillet with handle.", + "Lift the golden bread loaf and drop it into the gray skillet for stovetop cooking", + "Use the right arm to pick the bread with golden-brown crust for the medium-sized frying skillet", + "Put the small golden brown bread into the round skillet with open handle end.", + "Grab the golden bread loaf with the right arm and place in the round skillet with handle", + "Move the hand-sized oval loaf into the round skillet with open handle end from the table", + "Lift the golden bread loaf and drop it into the skillet with black cooking surface.", + "Set the bread with warm golden color into the metal skillet after grabbing", + "Use the right arm to lift the bread with golden-brown crust and place it into the metal skillet with comfortable grip.", + "Pick the bread with split top and set it into the skillet for frying food.", + "Use the right arm to grab the brown loaf and set it in the dark gray skillet." + ], + "unseen": [ + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Use the right arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the dark skillet with shiny finish using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Take the oval bread and put it in the dark skillet with shiny finish", + "Use the right arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the rounded oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the oval bread to the dark skillet with shiny finish.", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the oval-shaped soft bread and place it in the dark skillet with shiny finish", + "Use the right arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the right arm.", + "Pick up the rounded oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the oval-shaped soft bread and place it in the dark skillet with shiny finish", + "Use the right arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Move the oval bread to the dark skillet with shiny finish using the right arm.", + "Pick up the rounded oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the oval bread to the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the rounded oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the oval-shaped soft bread and place it in the dark skillet with shiny finish", + "Use the right arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Grab the oval bread and set it in the dark skillet with shiny finish", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Move the oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Take the oval bread and put it in the dark skillet with shiny finish", + "Use the right arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode17.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..6c33e7db296b3b70451ed567b1ada93f4c21ac35 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick the small golden baked bread and place it into the solid dark-colored round pan.", + "Use the right arm to grab the braided bread loaf for the solid dark-colored round pan", + "Pick up the bread with golden crust and put it in the flat-bottomed skillet with long handle", + "Use the right arm to move the soft doughy bread into the medium black pan with handle", + "Use the right arm to pick the soft golden bread and put it in the black skillet with smooth base", + "Use the right arm to take the smooth crusty small bread and move it into the solid dark-colored round pan.", + "Pick the golden bread loaf with soft inside and transfer it to the black pan with curved edges", + "Lift the braided bread loaf using the right arm and move it to the solid dark-colored round pan", + "Pick the braided bread loaf and set it into the smooth round pan made of iron.", + "Put the soft doughy bread into the round pan with hole in handle after grabbing it", + "Use the right arm to move the braided bread loaf and set it into the medium black pan with handle.", + "Pick up the golden brown bread with the right arm and drop it in the skillet with extended grip handle", + "Use the right arm to pick the soft doughy bread up for the solid dark-colored round pan", + "Move the small golden baked bread into the flat-bottomed skillet with long handle from the table", + "Put the round bread with braided top into the skillet with extended grip handle.", + "Lift the round bread with braided top and drop it into the black skillet with smooth base.", + "Grab the smooth crusty small bread with the right arm and place in the solid dark-colored round pan", + "Use the right arm to pick the small bread for the medium black pan with handle", + "Grab the braided bread loaf using the right arm and place it in the smooth round pan made of iron", + "Transfer the soft golden bread into the medium black pan with handle from the table", + "Use the right arm to place the golden brown bread into the versatile skillet for stovetop cooking", + "Take the golden bread loaf with soft inside and place it inside the medium black pan with handle", + "Pick the small golden baked bread up using the right arm and drop it in the medium black pan with handle.", + "Grab the soft doughy bread from the table and set it in the smooth round pan made of iron.", + "Take the small golden baked bread and place it inside the medium black pan with handle", + "Pick up the bread with golden crust and place it in the black skillet with smooth base.", + "Pick the golden brown bread with braided design with the right arm and set it in the smooth round pan made of iron", + "Place the round bread with crusty texture from the table into the medium black pan with handle", + "Use the right arm to grab the round bread with crusty texture for the skillet with extended grip handle", + "Take the soft doughy bread off the table into the smooth round pan made of iron", + "Grab the small bread and stick it in the flat-bottomed skillet with long handle.", + "Grab the soft golden bread and place it inside the black pan with curved edges", + "Grab the golden brown bread and place it inside the smooth round pan made of iron.", + "Set the round bread with braided top into the heavy black cooking skillet after grabbing", + "Move the bread with golden crust from table into the dark pan with sturdy grip", + "Lift the soft golden bread and drop it into the heavy black cooking skillet", + "Take the soft doughy bread with the right arm and drop into the round cooking pan", + "Take the round bread with crusty texture and put it in the heavy black cooking skillet.", + "Place the round bread with crusty texture into the medium black pan with handle using the right arm", + "Move the round bread with braided top to the dark pan with sturdy grip using the right arm", + "Use the right arm to stick the bread with golden crust into the dark pan with sturdy grip.", + "Use the right arm to grab the braided bread loaf and set it in the smooth round pan made of iron.", + "Use the right arm to set the soft golden bread into the heavy black cooking skillet.", + "Use the right arm to lift the bread with golden crust and place it into the flat-bottomed skillet with long handle.", + "Pick the bread with golden crust off the table and place it in the black pan with curved edges.", + "Take the soft golden bread and put it in the dark pan with sturdy grip.", + "Take the golden bread loaf with soft inside and drop it into the black pan with curved edges.", + "Grab the bread with golden crust and drop it into the medium black pan with handle", + "Take the golden brown bread with braided design and set it into the skillet with extended grip handle", + "Place the round bread with braided top into the medium black pan with handle with the right arm.", + "Use the right arm to pick the braided bread loaf and place it into the dark pan with sturdy grip.", + "Use the right arm to grab the golden bread loaf with soft inside for the solid dark-colored round pan", + "Pick up the golden brown bread and put it in the skillet with extended grip handle", + "Use the right arm to move the small golden baked bread into the black pan with curved edges", + "Use the right arm to pick the soft golden bread and put it in the black pan with curved edges", + "Use the right arm to take the golden bread loaf with soft inside and move it into the black pan with curved edges.", + "Pick the soft doughy bread and transfer it to the heavy black cooking skillet", + "Lift the small golden baked bread using the right arm and move it to the heavy black cooking skillet", + "Pick the soft golden bread and set it into the solid dark-colored round pan.", + "Put the round bread with crusty texture into the solid dark-colored round pan after grabbing it", + "Use the right arm to move the small bread and set it into the round pan with hole in handle.", + "Pick up the soft doughy bread with the right arm and drop it in the round cooking pan", + "Use the right arm to pick the small bread up for the black skillet with smooth base", + "Move the golden brown bread with braided design into the black pan with curved edges from the table", + "Put the small bread into the black skillet with smooth base.", + "Lift the soft golden bread and drop it into the dark pan with sturdy grip.", + "Grab the golden brown bread with braided design with the right arm and place in the flat-bottomed skillet with long handle", + "Use the right arm to pick the round bread with braided top for the round cooking pan", + "Grab the golden bread loaf with soft inside using the right arm and place it in the round cooking pan", + "Transfer the smooth crusty small bread into the round cooking pan from the table", + "Use the right arm to place the golden brown bread with braided design into the dark pan with sturdy grip", + "Take the bread with golden crust and place it inside the flat-bottomed skillet with long handle", + "Pick the smooth crusty small bread up using the right arm and drop it in the dark pan with sturdy grip.", + "Grab the small golden baked bread from the table and set it in the black pan with curved edges.", + "Take the bread with golden crust and place it inside the round pan with hole in handle", + "Pick up the round bread with braided top and place it in the round pan with hole in handle.", + "Pick the braided bread loaf with the right arm and set it in the heavy black cooking skillet", + "Place the golden brown bread from the table into the black skillet with smooth base", + "Use the right arm to grab the golden brown bread with braided design for the black pan with curved edges", + "Take the small golden baked bread off the table into the medium black pan with handle", + "Grab the golden brown bread with braided design and stick it in the skillet with extended grip handle.", + "Grab the golden brown bread with braided design and place it inside the black skillet with smooth base", + "Grab the round bread with braided top and place it inside the black pan with curved edges.", + "Set the round bread with crusty texture into the flat-bottomed skillet with long handle after grabbing", + "Move the soft doughy bread from table into the black pan with curved edges", + "Lift the soft doughy bread and drop it into the versatile skillet for stovetop cooking", + "Take the bread with golden crust with the right arm and drop into the skillet with extended grip handle", + "Take the small bread and put it in the black skillet with smooth base.", + "Place the smooth crusty small bread into the versatile skillet for stovetop cooking using the right arm", + "Move the round bread with braided top to the black pan with curved edges using the right arm", + "Use the right arm to stick the golden brown bread into the dark pan with sturdy grip.", + "Use the right arm to grab the braided bread loaf and set it in the medium black pan with handle.", + "Use the right arm to set the soft golden bread into the medium black pan with handle.", + "Use the right arm to lift the golden bread loaf with soft inside and place it into the heavy black cooking skillet.", + "Pick the bread with golden crust off the table and place it in the black pan with curved edges.", + "Take the soft golden bread and put it in the round pan with hole in handle.", + "Take the golden brown bread with braided design and drop it into the round pan with hole in handle.", + "Grab the smooth crusty small bread and drop it into the versatile skillet for stovetop cooking", + "Take the smooth crusty small bread and set it into the versatile skillet for stovetop cooking", + "Place the golden brown bread into the solid dark-colored round pan with the right arm." + ], + "unseen": [ + "Use the right arm to grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Grab the braided top round bread and drop it into the iron skillet for frying foods.", + "Pick up the braided top round bread and drop it into the black skillet", + "Grab the braided top round bread and place it into the round cast-iron skillet.", + "Grab the braided top round bread and place it in the iron skillet for frying foods", + "Pick the round braided loaf up and place it in the round cast-iron skillet", + "Take the round braided loaf and put it in the round cast-iron skillet", + "Move the palm-sized braided golden bread to the black skillet using the right arm.", + "Grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Use the right arm to move the braided top round bread to the iron skillet for frying foods.", + "Use the right arm to grab the palm-sized braided golden bread and set it in the black skillet", + "Grab the palm-sized braided golden bread and drop it into the iron skillet for frying foods.", + "Pick up the braided top round bread and drop it into the round cast-iron skillet", + "Grab the palm-sized braided golden bread and place it into the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and place it in the black skillet", + "Pick the braided top round bread up and place it in the black skillet", + "Take the round braided loaf and put it in the black skillet", + "Move the round braided loaf to the iron skillet for frying foods using the right arm.", + "Grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Use the right arm to move the braided top round bread to the black skillet.", + "Use the right arm to grab the braided top round bread and set it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and drop it into the black skillet.", + "Pick up the round braided loaf and drop it into the round cast-iron skillet", + "Grab the round braided loaf and place it into the black skillet.", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Pick the round braided loaf up and place it in the iron skillet for frying foods", + "Take the round braided loaf and put it in the iron skillet for frying foods", + "Move the braided top round bread to the round cast-iron skillet using the right arm.", + "Grab the braided top round bread and set it in the round cast-iron skillet", + "Use the right arm to move the braided top round bread to the round cast-iron skillet.", + "Use the right arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Pick up the round braided loaf and drop it into the black skillet", + "Grab the round braided loaf and place it into the round cast-iron skillet.", + "Grab the palm-sized braided golden bread and place it in the black skillet", + "Pick the round braided loaf up and place it in the round cast-iron skillet", + "Take the palm-sized braided golden bread and put it in the round cast-iron skillet", + "Move the round braided loaf to the black skillet using the right arm.", + "Grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Use the right arm to move the braided top round bread to the iron skillet for frying foods.", + "Use the right arm to grab the round braided loaf and set it in the round cast-iron skillet", + "Grab the round braided loaf and drop it into the black skillet.", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Grab the braided top round bread and place it into the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and place it in the iron skillet for frying foods", + "Pick the palm-sized braided golden bread up and place it in the round cast-iron skillet", + "Take the palm-sized braided golden bread and put it in the black skillet", + "Move the round braided loaf to the round cast-iron skillet using the right arm.", + "Grab the braided top round bread and set it in the iron skillet for frying foods", + "Use the right arm to move the braided top round bread to the round cast-iron skillet.", + "Use the right arm to grab the braided top round bread and set it in the iron skillet for frying foods", + "Grab the round braided loaf and drop it into the round cast-iron skillet.", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Grab the palm-sized braided golden bread and place it into the black skillet.", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Pick the braided top round bread up and place it in the iron skillet for frying foods", + "Take the braided top round bread and put it in the black skillet", + "Move the palm-sized braided golden bread to the round cast-iron skillet using the right arm.", + "Grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Use the right arm to move the round braided loaf to the round cast-iron skillet.", + "Use the right arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Grab the braided top round bread and drop it into the round cast-iron skillet.", + "Pick up the round braided loaf and drop it into the round cast-iron skillet", + "Grab the palm-sized braided golden bread and place it into the black skillet.", + "Grab the palm-sized braided golden bread and place it in the iron skillet for frying foods", + "Pick the braided top round bread up and place it in the black skillet", + "Take the palm-sized braided golden bread and put it in the iron skillet for frying foods", + "Move the braided top round bread to the black skillet using the right arm.", + "Grab the round braided loaf and set it in the black skillet", + "Use the right arm to move the braided top round bread to the round cast-iron skillet.", + "Use the right arm to grab the round braided loaf and set it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and drop it into the black skillet.", + "Pick up the round braided loaf and drop it into the round cast-iron skillet", + "Grab the round braided loaf and place it into the iron skillet for frying foods.", + "Grab the braided top round bread and place it in the black skillet", + "Pick the round braided loaf up and place it in the black skillet", + "Take the braided top round bread and put it in the black skillet", + "Move the braided top round bread to the black skillet using the right arm.", + "Grab the round braided loaf and set it in the black skillet", + "Use the right arm to move the round braided loaf to the black skillet.", + "Use the right arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Grab the braided top round bread and drop it into the black skillet.", + "Pick up the round braided loaf and drop it into the black skillet", + "Grab the round braided loaf and place it into the iron skillet for frying foods.", + "Grab the braided top round bread and place it in the iron skillet for frying foods", + "Pick the palm-sized braided golden bread up and place it in the iron skillet for frying foods", + "Take the round braided loaf and put it in the black skillet", + "Move the round braided loaf to the iron skillet for frying foods using the right arm.", + "Grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Use the right arm to move the braided top round bread to the round cast-iron skillet.", + "Use the right arm to grab the palm-sized braided golden bread and set it in the black skillet", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Pick up the braided top round bread and drop it into the black skillet", + "Grab the palm-sized braided golden bread and place it into the round cast-iron skillet.", + "Grab the braided top round bread and place it in the iron skillet for frying foods", + "Pick the palm-sized braided golden bread up and place it in the black skillet", + "Take the round braided loaf and put it in the black skillet", + "Move the palm-sized braided golden bread to the iron skillet for frying foods using the right arm.", + "Grab the round braided loaf and set it in the iron skillet for frying foods", + "Use the right arm to move the palm-sized braided golden bread to the round cast-iron skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode18.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..54ef9d91547524f0fb30d085267b69a384bfe896 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the slice-shaped bread and set it into the round skillet with open handle end.", + "Pick the soft golden baked bread up using the left arm and drop it in the gray skillet for stovetop cooking.", + "Grab the square loaf of bread from the table and set it in the smooth non-stick skillet.", + "Use the left arm to move the golden brown loaf-shaped bread into the medium-sized frying skillet", + "Pick the golden brown loaf-shaped bread off the table and place it in the metal skillet with comfortable grip.", + "Take the golden bread and place it inside the black-surfaced skillet with gray sides", + "Grab the golden bread and place it inside the skillet with black cooking surface", + "Pick the bread with rounded corners with the left arm and set it in the black-surfaced skillet with gray sides", + "Set the bread with firm crust edges into the flat-bottom skillet after grabbing", + "Use the left arm to move the bread loaf with square shape and set it into the flat-bottom skillet.", + "Use the left arm to take the slice-shaped bread and move it into the metal skillet with comfortable grip.", + "Grab the bread with firm crust edges and stick it in the skillet for frying food.", + "Use the left arm to stick the bread with golden surface color into the round skillet with handle.", + "Put the brown bread loaf into the smooth non-stick skillet.", + "Take the bread with rounded corners off the table into the metal skillet with comfortable grip", + "Take the bread with rounded corners with the left arm and drop into the skillet for frying food", + "Pick up the square loaf of bread and place it in the skillet with black cooking surface.", + "Take the golden bread and place it inside the metal skillet", + "Use the left arm to grab the brown bread loaf for the metal skillet with comfortable grip", + "Take the bread loaf with square shape and set it into the metal skillet", + "Place the slice-shaped bread into the medium-sized frying skillet with the left arm.", + "Pick up the golden bread with the left arm and drop it in the dark gray skillet", + "Put the bread loaf with square shape into the metal skillet after grabbing it", + "Move the golden brown loaf-shaped bread into the skillet with black cooking surface from the table", + "Use the left arm to lift the soft golden baked bread and place it into the black-surfaced skillet with gray sides.", + "Grab the golden bread and place it inside the gray skillet for stovetop cooking.", + "Lift the golden brown loaf-shaped bread using the left arm and move it to the smooth non-stick skillet", + "Place the slice-shaped bread from the table into the skillet for frying food", + "Take the square loaf of bread and put it in the round skillet with handle.", + "Move the bread loaf with square shape to the gray skillet for stovetop cooking using the left arm", + "Take the bread with firm crust edges and put it in the black-surfaced skillet with gray sides.", + "Pick up the golden bread and put it in the gray skillet for stovetop cooking", + "Use the left arm to pick the bread with rounded corners and put it in the medium-sized frying skillet", + "Pick the square loaf of bread and transfer it to the gray skillet for stovetop cooking", + "Lift the slice-shaped bread and drop it into the smooth non-stick skillet.", + "Grab the bread loaf with square shape and drop it into the gray skillet for stovetop cooking", + "Grab the bread with golden surface color with the left arm and place in the smooth non-stick skillet", + "Use the left arm to pick the bread loaf with square shape and place it into the metal skillet with comfortable grip.", + "Use the left arm to set the rectangular bread soft inside into the black-surfaced skillet with gray sides.", + "Use the left arm to place the bread with firm crust edges into the smooth non-stick skillet", + "Transfer the golden brown loaf-shaped bread into the round skillet with open handle end from the table", + "Grab the brown bread loaf using the left arm and place it in the medium-sized frying skillet", + "Use the left arm to pick the bread with rounded corners for the flat-bottom skillet", + "Use the left arm to grab the bread with rounded corners for the round skillet with open handle end", + "Move the golden bread from table into the metal skillet with comfortable grip", + "Take the bread with golden surface color and drop it into the medium-sized frying skillet.", + "Place the brown bread loaf into the flat-bottom skillet using the left arm", + "Lift the golden crusted bread slice and drop it into the skillet with black cooking surface", + "Use the left arm to pick the golden crusted bread slice up for the round skillet with open handle end", + "Use the left arm to grab the slice-shaped bread and set it in the black-surfaced skillet with gray sides.", + "Pick the bread with rounded corners and set it into the metal skillet with comfortable grip.", + "Pick the bread with golden surface color up using the left arm and drop it in the medium-sized frying skillet.", + "Grab the slice-shaped bread from the table and set it in the skillet with black cooking surface.", + "Use the left arm to move the square loaf of bread into the round skillet with open handle end", + "Pick the golden brown loaf-shaped bread off the table and place it in the round skillet with open handle end.", + "Take the bread with golden surface color and place it inside the round skillet with handle", + "Grab the golden bread and place it inside the dark gray skillet", + "Pick the golden bread with the left arm and set it in the skillet with black cooking surface", + "Set the golden brown loaf-shaped bread into the dark gray skillet after grabbing", + "Use the left arm to move the brown bread loaf and set it into the black-surfaced skillet with gray sides.", + "Use the left arm to take the golden brown loaf-shaped bread and move it into the flat-bottom skillet.", + "Grab the bread with firm crust edges and stick it in the skillet with black cooking surface.", + "Use the left arm to stick the bread with rounded corners into the skillet with black cooking surface.", + "Put the slice-shaped bread into the medium-sized frying skillet.", + "Take the rectangular bread soft inside off the table into the round skillet with handle", + "Take the golden crusted bread slice with the left arm and drop into the gray skillet for stovetop cooking", + "Pick up the brown bread loaf and place it in the skillet with black cooking surface.", + "Take the bread with golden surface color and place it inside the flat-bottom skillet", + "Use the left arm to grab the square loaf of bread for the round skillet with open handle end", + "Take the rectangular bread soft inside and set it into the round skillet with open handle end", + "Place the bread with rounded corners into the round skillet with handle with the left arm.", + "Pick up the slice-shaped bread with the left arm and drop it in the smooth non-stick skillet", + "Put the golden crusted bread slice into the medium-sized frying skillet after grabbing it", + "Move the slice-shaped bread into the metal skillet with comfortable grip from the table", + "Use the left arm to lift the golden brown loaf-shaped bread and place it into the metal skillet.", + "Grab the rectangular bread soft inside and place it inside the smooth non-stick skillet.", + "Lift the golden bread using the left arm and move it to the metal skillet with comfortable grip", + "Place the bread with firm crust edges from the table into the round skillet with handle", + "Take the golden brown loaf-shaped bread and put it in the metal skillet with comfortable grip.", + "Move the bread loaf with square shape to the flat-bottom skillet using the left arm", + "Take the golden brown loaf-shaped bread and put it in the skillet with black cooking surface.", + "Pick up the golden bread and put it in the black-surfaced skillet with gray sides", + "Use the left arm to pick the slice-shaped bread and put it in the round skillet with open handle end", + "Pick the square loaf of bread and transfer it to the round skillet with handle", + "Lift the bread loaf with square shape and drop it into the round skillet with handle.", + "Grab the soft golden baked bread and drop it into the skillet with black cooking surface", + "Grab the rectangular bread soft inside with the left arm and place in the smooth non-stick skillet", + "Use the left arm to pick the slice-shaped bread and place it into the round skillet with handle.", + "Use the left arm to set the brown bread loaf into the metal skillet.", + "Use the left arm to place the bread with firm crust edges into the black-surfaced skillet with gray sides", + "Transfer the bread with rounded corners into the gray skillet for stovetop cooking from the table", + "Grab the golden bread using the left arm and place it in the metal skillet", + "Use the left arm to pick the golden bread for the gray skillet for stovetop cooking", + "Use the left arm to grab the golden bread for the black-surfaced skillet with gray sides", + "Move the square loaf of bread from table into the black-surfaced skillet with gray sides", + "Take the golden crusted bread slice and drop it into the flat-bottom skillet.", + "Place the rectangular bread soft inside into the flat-bottom skillet using the left arm", + "Lift the square loaf of bread and drop it into the flat-bottom skillet", + "Use the left arm to pick the golden crusted bread slice up for the flat-bottom skillet", + "Use the left arm to grab the golden crusted bread slice and set it in the skillet for frying food." + ], + "unseen": [ + "Take the small loaf-shaped bread and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Move the small loaf-shaped bread to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to move the small loaf-shaped bread to the pan-shaped skillet with hole in handle.", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the bread loaf medium-sized and place it into the pan-shaped skillet with hole in handle.", + "Pick the soft rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Pick up the soft rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Take the bread loaf medium-sized and put it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Move the small loaf-shaped bread to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the soft rectangular bread loaf to the dark skillet with shiny finish.", + "Grab the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and place it into the pan-shaped skillet with hole in handle.", + "Pick the bread loaf medium-sized up and place it in the pan-shaped skillet with hole in handle", + "Pick up the soft rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Take the soft rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Move the soft rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to move the soft rectangular bread loaf to the dark skillet with shiny finish.", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and place it into the versatile skillet for frying and sauteing.", + "Pick the soft rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Take the soft rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Move the bread loaf medium-sized to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the soft rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and place it into the dark skillet with shiny finish.", + "Pick the small loaf-shaped bread up and place it in the dark skillet with shiny finish", + "Pick up the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and place it in the dark skillet with shiny finish", + "Use the left arm to grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Take the soft rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Move the soft rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to move the bread loaf medium-sized to the versatile skillet for frying and sauteing.", + "Grab the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the soft rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Pick the bread loaf medium-sized up and place it in the pan-shaped skillet with hole in handle", + "Pick up the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Take the small loaf-shaped bread and put it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the bread loaf medium-sized to the dark skillet with shiny finish.", + "Grab the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Pick the soft rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Pick up the soft rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it in the dark skillet with shiny finish", + "Use the left arm to grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Take the small loaf-shaped bread and put it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Move the small loaf-shaped bread to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to move the soft rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and drop it into the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and place it into the versatile skillet for frying and sauteing.", + "Pick the soft rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Pick up the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and place it in the dark skillet with shiny finish", + "Use the left arm to grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Take the soft rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Move the soft rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Use the left arm to move the small loaf-shaped bread to the dark skillet with shiny finish.", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the soft rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Pick the soft rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Pick up the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and place it in the dark skillet with shiny finish", + "Use the left arm to grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Move the bread loaf medium-sized to the dark skillet with shiny finish using the left arm.", + "Use the left arm to move the bread loaf medium-sized to the pan-shaped skillet with hole in handle.", + "Grab the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the small loaf-shaped bread and place it into the dark skillet with shiny finish.", + "Pick the small loaf-shaped bread up and place it in the dark skillet with shiny finish", + "Pick up the small loaf-shaped bread and drop it into the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Take the bread loaf medium-sized and put it in the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Move the bread loaf medium-sized to the dark skillet with shiny finish using the left arm.", + "Use the left arm to move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Grab the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and place it into the pan-shaped skillet with hole in handle.", + "Pick the small loaf-shaped bread up and place it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode19.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..11bc5af020746dc92b6c2b8ca528c3901b2d701e --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the smooth loaf with rounded edges with the left arm and drop into the round skillet with open handle end", + "Use the left arm to pick the light brown bread with ridges for the medium-sized frying skillet", + "Place the light brown bread with ridges from the table into the round skillet with handle", + "Lift the light brown bread with ridges using the left arm and move it to the smooth non-stick skillet", + "Grab the brown loaf from the table and set it in the metal skillet.", + "Use the left arm to stick the golden bread loaf into the round skillet with open handle end.", + "Move the light brown bread with ridges to the round skillet with open handle end using the left arm", + "Use the left arm to set the brown loaf into the skillet with black cooking surface.", + "Take the soft brown bread and drop it into the dark gray skillet.", + "Pick the small golden brown bread up using the left arm and drop it in the black-surfaced skillet with gray sides.", + "Use the left arm to take the hand-sized oval loaf and move it into the smooth non-stick skillet.", + "Grab the golden bread loaf with the left arm and place in the medium-sized frying skillet", + "Grab the soft brown bread and place it inside the skillet for frying food", + "Take the small golden brown bread and put it in the skillet for frying food.", + "Grab the small loaf with curved top using the left arm and place it in the metal skillet", + "Pick up the bread with warm golden color and place it in the round skillet with open handle end.", + "Grab the smooth loaf with rounded edges and stick it in the round skillet with handle.", + "Pick the small loaf with curved top with the left arm and set it in the skillet with black cooking surface", + "Lift the smooth loaf with rounded edges and drop it into the metal skillet with comfortable grip.", + "Pick the bread with golden-brown crust and set it into the metal skillet.", + "Place the light brown loaf with smooth sides into the black-surfaced skillet with gray sides using the left arm", + "Grab the soft brown bread and place it inside the medium-sized frying skillet.", + "Move the brown loaf from table into the flat-bottom skillet", + "Pick up the small golden brown bread with the left arm and drop it in the skillet with black cooking surface", + "Take the bread with split top and put it in the flat-bottom skillet.", + "Use the left arm to move the small golden brown bread and set it into the dark gray skillet.", + "Use the left arm to pick the small loaf with curved top and place it into the metal skillet.", + "Grab the soft brown bread and drop it into the skillet for frying food", + "Transfer the small golden brown bread into the metal skillet with comfortable grip from the table", + "Put the light brown loaf with smooth sides into the medium-sized frying skillet.", + "Use the left arm to place the small golden brown bread into the smooth non-stick skillet", + "Take the bread with golden-brown crust and set it into the metal skillet", + "Set the bread with golden-brown crust into the medium-sized frying skillet after grabbing", + "Use the left arm to lift the small loaf with curved top and place it into the medium-sized frying skillet.", + "Use the left arm to grab the brown loaf for the skillet for frying food", + "Take the light brown bread with ridges and place it inside the dark gray skillet", + "Place the hand-sized oval loaf into the metal skillet with comfortable grip with the left arm.", + "Put the golden bread loaf into the skillet with black cooking surface after grabbing it", + "Pick up the bread with warm golden color and put it in the flat-bottom skillet", + "Use the left arm to grab the soft brown bread for the skillet with black cooking surface", + "Use the left arm to move the soft brown bread into the round skillet with open handle end", + "Take the bread with split top and place it inside the medium-sized frying skillet", + "Use the left arm to pick the bread with split top up for the smooth non-stick skillet", + "Use the left arm to pick the soft brown bread and put it in the black-surfaced skillet with gray sides", + "Pick the small loaf with curved top and transfer it to the round skillet with open handle end", + "Pick the small loaf with curved top off the table and place it in the smooth non-stick skillet.", + "Take the smooth loaf with rounded edges off the table into the dark gray skillet", + "Lift the small golden brown bread and drop it into the round skillet with open handle end", + "Use the left arm to grab the small loaf with curved top and set it in the round skillet with handle.", + "Move the bread with golden-brown crust into the metal skillet from the table", + "Take the light brown loaf with smooth sides with the left arm and drop into the skillet for frying food", + "Use the left arm to pick the golden bread loaf for the smooth non-stick skillet", + "Place the light brown loaf with smooth sides from the table into the metal skillet with comfortable grip", + "Lift the light brown bread with ridges using the left arm and move it to the smooth non-stick skillet", + "Grab the bread with warm golden color from the table and set it in the round skillet with handle.", + "Use the left arm to stick the bread with warm golden color into the flat-bottom skillet.", + "Move the bread with golden-brown crust to the smooth non-stick skillet using the left arm", + "Use the left arm to set the smooth loaf with rounded edges into the round skillet with open handle end.", + "Take the small golden brown bread and drop it into the round skillet with handle.", + "Pick the light brown loaf with smooth sides up using the left arm and drop it in the gray skillet for stovetop cooking.", + "Use the left arm to take the light brown bread with ridges and move it into the round skillet with open handle end.", + "Grab the bread with warm golden color with the left arm and place in the metal skillet with comfortable grip", + "Grab the soft brown bread and place it inside the round skillet with handle", + "Take the bread with split top and put it in the gray skillet for stovetop cooking.", + "Grab the brown loaf using the left arm and place it in the smooth non-stick skillet", + "Pick up the bread with split top and place it in the round skillet with open handle end.", + "Grab the brown loaf and stick it in the flat-bottom skillet.", + "Pick the soft brown bread with the left arm and set it in the dark gray skillet", + "Lift the bread with split top and drop it into the flat-bottom skillet.", + "Pick the small loaf with curved top and set it into the black-surfaced skillet with gray sides.", + "Place the bread with split top into the round skillet with handle using the left arm", + "Grab the smooth loaf with rounded edges and place it inside the round skillet with open handle end.", + "Move the hand-sized oval loaf from table into the black-surfaced skillet with gray sides", + "Pick up the small loaf with curved top with the left arm and drop it in the gray skillet for stovetop cooking", + "Take the small loaf with curved top and put it in the round skillet with open handle end.", + "Use the left arm to move the hand-sized oval loaf and set it into the metal skillet.", + "Use the left arm to pick the light brown loaf with smooth sides and place it into the smooth non-stick skillet.", + "Grab the bread with split top and drop it into the skillet with black cooking surface", + "Transfer the small loaf with curved top into the gray skillet for stovetop cooking from the table", + "Put the bread with split top into the metal skillet.", + "Use the left arm to place the brown loaf into the metal skillet with comfortable grip", + "Take the hand-sized oval loaf and set it into the skillet with black cooking surface", + "Set the bread with warm golden color into the dark gray skillet after grabbing", + "Use the left arm to lift the bread with golden-brown crust and place it into the gray skillet for stovetop cooking.", + "Use the left arm to grab the soft brown bread for the smooth non-stick skillet", + "Take the bread with split top and place it inside the gray skillet for stovetop cooking", + "Place the light brown bread with ridges into the medium-sized frying skillet with the left arm.", + "Put the small golden brown bread into the round skillet with handle after grabbing it", + "Pick up the hand-sized oval loaf and put it in the skillet for frying food", + "Use the left arm to grab the bread with warm golden color for the black-surfaced skillet with gray sides", + "Use the left arm to move the bread with split top into the skillet with black cooking surface", + "Take the soft brown bread and place it inside the round skillet with open handle end", + "Use the left arm to pick the bread with split top up for the medium-sized frying skillet", + "Use the left arm to pick the smooth loaf with rounded edges and put it in the skillet for frying food", + "Pick the golden bread loaf and transfer it to the round skillet with open handle end", + "Pick the hand-sized oval loaf off the table and place it in the dark gray skillet.", + "Take the bread with split top off the table into the skillet for frying food", + "Lift the light brown bread with ridges and drop it into the metal skillet with comfortable grip", + "Use the left arm to grab the golden bread loaf and set it in the metal skillet.", + "Move the light brown bread with ridges into the black-surfaced skillet with gray sides from the table" + ], + "unseen": [ + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Move the oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the oval bread to the dark skillet with shiny finish.", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Take the oval-shaped soft bread and put it in the dark skillet with shiny finish", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Use the left arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the left arm.", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Move the oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the left arm.", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Use the left arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the oval bread to the dark skillet with shiny finish.", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the left arm.", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the rounded oval bread to the pan-shaped skillet with hole in handle." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode2.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..4c7f899f1d0c61a114c76b3dd0d3db1a29dd097a --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the soft square bread and drop it into the metal skillet with comfortable grip.", + "Put the soft square bread into the skillet with black cooking surface after grabbing it", + "Use the left arm to pick the rounded square loaf up for the metal skillet", + "Pick the golden baked bread and set it into the flat-bottom skillet.", + "Grab the golden baked bread using the left arm and place it in the dark gray skillet", + "Use the left arm to grab the medium bread with rounded sides for the metal skillet with comfortable grip", + "Take the golden brown bread with the left arm and drop into the round skillet with open handle end", + "Grab the medium-sized bread piece and stick it in the round skillet with open handle end.", + "Pick up the rounded square loaf and put it in the round skillet with handle", + "Take the golden brown bread and place it inside the black-surfaced skillet with gray sides", + "Grab the fluffy baked bread and place it inside the metal skillet", + "Pick the rounded square loaf up using the left arm and drop it in the dark gray skillet.", + "Use the left arm to move the bread with rounded edges and set it into the skillet for frying food.", + "Grab the bread with soft texture with the left arm and place in the metal skillet with comfortable grip", + "Use the left arm to take the soft square bread and move it into the metal skillet with comfortable grip.", + "Pick up the golden brown bread with the left arm and drop it in the skillet for frying food", + "Lift the light brown porous bread using the left arm and move it to the round skillet with open handle end", + "Use the left arm to move the bread with soft texture into the round skillet with open handle end", + "Grab the light brown porous bread from the table and set it in the skillet for frying food.", + "Move the bread with rounded edges to the skillet with black cooking surface using the left arm", + "Take the medium bread with rounded sides and set it into the metal skillet with comfortable grip", + "Use the left arm to grab the bread with rounded edges and set it in the round skillet with handle.", + "Take the light brown porous bread and put it in the flat-bottom skillet.", + "Place the light brown porous bread from the table into the skillet with black cooking surface", + "Use the left arm to set the golden brown bread into the gray skillet for stovetop cooking.", + "Use the left arm to pick the bread with rounded edges and put it in the gray skillet for stovetop cooking", + "Pick the golden baked bread off the table and place it in the flat-bottom skillet.", + "Use the left arm to grab the rounded square loaf for the flat-bottom skillet", + "Transfer the golden brown bread into the skillet for frying food from the table", + "Set the square-shaped bread piece into the black-surfaced skillet with gray sides after grabbing", + "Put the sponge-textured golden bread into the dark gray skillet.", + "Use the left arm to place the golden baked bread into the round skillet with open handle end", + "Take the medium bread with rounded sides and drop it into the dark gray skillet.", + "Use the left arm to pick the sponge-textured golden bread for the black-surfaced skillet with gray sides", + "Pick up the soft square bread and place it in the skillet for frying food.", + "Place the bread with soft texture into the skillet with black cooking surface with the left arm.", + "Use the left arm to lift the bread with soft texture and place it into the skillet for frying food.", + "Move the rounded square loaf into the gray skillet for stovetop cooking from the table", + "Pick the golden brown bread with the left arm and set it in the smooth non-stick skillet", + "Move the light brown porous bread from table into the metal skillet with comfortable grip", + "Use the left arm to pick the bread with rounded edges and place it into the metal skillet.", + "Place the fluffy baked bread into the smooth non-stick skillet using the left arm", + "Take the rounded square loaf and place it inside the round skillet with open handle end", + "Grab the medium-sized bread piece and drop it into the round skillet with handle", + "Take the light brown porous bread and put it in the round skillet with handle.", + "Take the medium-sized bread piece off the table into the skillet with black cooking surface", + "Grab the bread with rounded edges and place it inside the dark gray skillet.", + "Pick the bread with rounded edges and transfer it to the skillet with black cooking surface", + "Use the left arm to stick the sponge-textured golden bread into the gray skillet for stovetop cooking.", + "Lift the fluffy baked bread and drop it into the dark gray skillet", + "Lift the medium bread with rounded sides and drop it into the medium-sized frying skillet.", + "Put the fluffy baked bread into the gray skillet for stovetop cooking after grabbing it", + "Use the left arm to pick the rounded square loaf up for the dark gray skillet", + "Pick the golden brown bread and set it into the dark gray skillet.", + "Grab the bread with rounded edges using the left arm and place it in the smooth non-stick skillet", + "Use the left arm to grab the fluffy baked bread for the metal skillet with comfortable grip", + "Take the golden brown bread with the left arm and drop into the metal skillet", + "Grab the rounded square loaf and stick it in the smooth non-stick skillet.", + "Pick up the square-shaped bread piece and put it in the flat-bottom skillet", + "Take the medium-sized bread piece and place it inside the gray skillet for stovetop cooking", + "Grab the golden baked bread and place it inside the round skillet with open handle end", + "Pick the light brown porous bread up using the left arm and drop it in the flat-bottom skillet.", + "Use the left arm to move the light brown porous bread and set it into the black-surfaced skillet with gray sides.", + "Grab the soft square bread with the left arm and place in the flat-bottom skillet", + "Use the left arm to take the medium bread with rounded sides and move it into the skillet with black cooking surface.", + "Pick up the soft square bread with the left arm and drop it in the metal skillet", + "Lift the bread with rounded edges using the left arm and move it to the smooth non-stick skillet", + "Use the left arm to move the bread with soft texture into the skillet for frying food", + "Grab the rounded square loaf from the table and set it in the gray skillet for stovetop cooking.", + "Move the rounded square loaf to the skillet with black cooking surface using the left arm", + "Take the square-shaped bread piece and set it into the metal skillet with comfortable grip", + "Use the left arm to grab the bread with rounded edges and set it in the black-surfaced skillet with gray sides.", + "Take the medium bread with rounded sides and put it in the skillet with black cooking surface.", + "Place the light brown porous bread from the table into the gray skillet for stovetop cooking", + "Use the left arm to set the light brown porous bread into the metal skillet with comfortable grip.", + "Use the left arm to pick the golden brown bread and put it in the skillet with black cooking surface", + "Pick the golden brown bread off the table and place it in the smooth non-stick skillet.", + "Use the left arm to grab the soft square bread for the skillet for frying food", + "Transfer the medium-sized bread piece into the round skillet with open handle end from the table", + "Set the bread with soft texture into the round skillet with open handle end after grabbing", + "Put the rounded square loaf into the round skillet with handle.", + "Use the left arm to place the light brown porous bread into the metal skillet", + "Take the medium-sized bread piece and drop it into the dark gray skillet.", + "Use the left arm to pick the golden brown bread for the skillet for frying food", + "Pick up the golden brown bread and place it in the skillet with black cooking surface.", + "Place the square-shaped bread piece into the flat-bottom skillet with the left arm.", + "Use the left arm to lift the fluffy baked bread and place it into the smooth non-stick skillet.", + "Move the golden brown bread into the dark gray skillet from the table", + "Pick the medium-sized bread piece with the left arm and set it in the smooth non-stick skillet", + "Move the medium-sized bread piece from table into the black-surfaced skillet with gray sides", + "Use the left arm to pick the bread with soft texture and place it into the flat-bottom skillet.", + "Place the medium bread with rounded sides into the black-surfaced skillet with gray sides using the left arm", + "Take the golden brown bread and place it inside the round skillet with open handle end", + "Grab the sponge-textured golden bread and drop it into the black-surfaced skillet with gray sides", + "Take the sponge-textured golden bread and put it in the metal skillet with comfortable grip.", + "Take the fluffy baked bread off the table into the flat-bottom skillet", + "Grab the rounded square loaf and place it inside the medium-sized frying skillet.", + "Pick the bread with rounded edges and transfer it to the gray skillet for stovetop cooking", + "Use the left arm to stick the fluffy baked bread into the skillet for frying food.", + "Lift the medium-sized bread piece and drop it into the skillet for frying food" + ], + "unseen": [ + "Use the left arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and place it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the left arm.", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it into the dark skillet with shiny finish.", + "Pick up the square bread with light spots and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to move the spongy golden brown bread to the versatile skillet for frying and sauteing.", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the left arm.", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and place it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the left arm.", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Use the left arm to move the soft bread with golden edges to the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the left arm.", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Pick the square bread with light spots up and place it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Pick up the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Move the square bread with light spots to the versatile skillet for frying and sauteing using the left arm.", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Pick the soft bread with golden edges up and place it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Use the left arm to move the spongy golden brown bread to the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Move the square bread with light spots to the dark skillet with shiny finish using the left arm.", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Use the left arm to move the spongy golden brown bread to the versatile skillet for frying and sauteing.", + "Grab the soft bread with golden edges and place it in the versatile skillet for frying and sauteing", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the left arm.", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and place it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the left arm.", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Pick the soft bread with golden edges up and place it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it into the dark skillet with shiny finish.", + "Pick up the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and place it in the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the dark skillet with shiny finish using the left arm.", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Pick the square bread with light spots up and place it in the dark skillet with shiny finish", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Pick up the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Move the square bread with light spots to the versatile skillet for frying and sauteing using the left arm.", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode20.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..8306fa35cd9a84503c7fd29363d69916dc86d42d --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the doughy and soft bread using the left arm and place it in the gray skillet for stovetop cooking", + "Use the left arm to take the hand-sized bread block and move it into the metal skillet.", + "Use the left arm to move the bread loaf with uneven edges into the metal skillet", + "Place the hand-sized bread block into the gray skillet for stovetop cooking with the left arm.", + "Grab the light golden brown bread and place it inside the skillet for frying food", + "Move the golden bread into the round skillet with open handle end from the table", + "Use the left arm to pick the bread with rough texture and put it in the dark gray skillet", + "Grab the soft bread and drop it into the round skillet with handle", + "Use the left arm to pick the bread block with light patches for the skillet with black cooking surface", + "Grab the bread with rough texture and stick it in the round skillet with handle.", + "Use the left arm to place the doughy and soft bread into the dark gray skillet", + "Take the light golden brown bread with the left arm and drop into the gray skillet for stovetop cooking", + "Take the golden bread and put it in the flat-bottom skillet.", + "Lift the bread loaf with uneven edges and drop it into the flat-bottom skillet", + "Pick up the cuboid bread and put it in the medium-sized frying skillet", + "Pick the bread with rough texture off the table and place it in the flat-bottom skillet.", + "Put the light golden brown bread into the medium-sized frying skillet.", + "Use the left arm to move the bread with rough texture and set it into the round skillet with handle.", + "Use the left arm to grab the bread block with light patches and set it in the black-surfaced skillet with gray sides.", + "Use the left arm to set the soft bread into the smooth non-stick skillet.", + "Take the square-shaped bread off the table into the gray skillet for stovetop cooking", + "Pick up the bread loaf with uneven edges with the left arm and drop it in the metal skillet", + "Transfer the bread loaf with bumpy surface into the skillet with black cooking surface from the table", + "Pick up the doughy and soft bread and place it in the gray skillet for stovetop cooking.", + "Pick the bread block with light patches and set it into the black-surfaced skillet with gray sides.", + "Set the cuboid bread into the round skillet with handle after grabbing", + "Use the left arm to stick the hand-sized bread block into the metal skillet.", + "Use the left arm to pick the golden bread and place it into the dark gray skillet.", + "Grab the bread with rough texture from the table and set it in the smooth non-stick skillet.", + "Pick the golden bread loaf with the left arm and set it in the dark gray skillet", + "Pick the bread loaf with bumpy surface and transfer it to the medium-sized frying skillet", + "Pick the soft bread up using the left arm and drop it in the medium-sized frying skillet.", + "Take the bread loaf with bumpy surface and drop it into the dark gray skillet.", + "Use the left arm to pick the bread loaf with uneven edges up for the metal skillet", + "Grab the golden bread loaf and place it inside the flat-bottom skillet.", + "Use the left arm to grab the bread loaf with uneven edges for the gray skillet for stovetop cooking", + "Lift the cuboid bread and drop it into the skillet with black cooking surface.", + "Use the left arm to lift the golden bread loaf and place it into the metal skillet.", + "Move the doughy and soft bread from table into the medium-sized frying skillet", + "Lift the bread loaf with bumpy surface using the left arm and move it to the gray skillet for stovetop cooking", + "Place the golden bread loaf into the round skillet with handle using the left arm", + "Move the golden bread loaf to the metal skillet with comfortable grip using the left arm", + "Take the bread loaf with uneven edges and place it inside the dark gray skillet", + "Grab the bread with rough texture with the left arm and place in the flat-bottom skillet", + "Put the bread with rough texture into the dark gray skillet after grabbing it", + "Use the left arm to grab the bread with rough texture for the gray skillet for stovetop cooking", + "Take the bread block with light patches and put it in the round skillet with open handle end.", + "Take the bread loaf with bumpy surface and place it inside the metal skillet", + "Take the bread loaf with uneven edges and set it into the black-surfaced skillet with gray sides", + "Place the golden bread loaf from the table into the dark gray skillet", + "Grab the golden bread loaf using the left arm and place it in the skillet with black cooking surface", + "Use the left arm to take the bread loaf with bumpy surface and move it into the black-surfaced skillet with gray sides.", + "Use the left arm to move the golden bread loaf into the gray skillet for stovetop cooking", + "Place the soft bread into the flat-bottom skillet with the left arm.", + "Grab the cuboid bread and place it inside the flat-bottom skillet", + "Move the square-shaped bread into the metal skillet from the table", + "Use the left arm to pick the hand-sized bread block and put it in the metal skillet", + "Grab the soft bread and drop it into the flat-bottom skillet", + "Use the left arm to pick the golden bread loaf for the dark gray skillet", + "Grab the bread with rough texture and stick it in the round skillet with open handle end.", + "Use the left arm to place the light golden brown bread into the metal skillet with comfortable grip", + "Take the golden bread loaf with the left arm and drop into the skillet with black cooking surface", + "Take the cuboid bread and put it in the skillet with black cooking surface.", + "Lift the light golden brown bread and drop it into the round skillet with handle", + "Pick up the hand-sized bread block and put it in the round skillet with open handle end", + "Pick the bread with rough texture off the table and place it in the dark gray skillet.", + "Put the doughy and soft bread into the skillet for frying food.", + "Use the left arm to move the light golden brown bread and set it into the round skillet with open handle end.", + "Use the left arm to grab the golden bread loaf and set it in the smooth non-stick skillet.", + "Use the left arm to set the square-shaped bread into the round skillet with handle.", + "Take the soft bread off the table into the black-surfaced skillet with gray sides", + "Pick up the hand-sized bread block with the left arm and drop it in the smooth non-stick skillet", + "Transfer the soft bread into the smooth non-stick skillet from the table", + "Pick up the light golden brown bread and place it in the dark gray skillet.", + "Pick the soft bread and set it into the black-surfaced skillet with gray sides.", + "Set the square-shaped bread into the skillet with black cooking surface after grabbing", + "Use the left arm to stick the light golden brown bread into the black-surfaced skillet with gray sides.", + "Use the left arm to pick the bread loaf with bumpy surface and place it into the dark gray skillet.", + "Grab the cuboid bread from the table and set it in the gray skillet for stovetop cooking.", + "Pick the doughy and soft bread with the left arm and set it in the medium-sized frying skillet", + "Pick the bread loaf with uneven edges and transfer it to the round skillet with open handle end", + "Pick the golden bread loaf up using the left arm and drop it in the skillet for frying food.", + "Take the soft bread and drop it into the smooth non-stick skillet.", + "Use the left arm to pick the golden bread up for the round skillet with open handle end", + "Grab the bread with rough texture and place it inside the skillet for frying food.", + "Use the left arm to grab the hand-sized bread block for the black-surfaced skillet with gray sides", + "Lift the cuboid bread and drop it into the skillet with black cooking surface.", + "Use the left arm to lift the square-shaped bread and place it into the round skillet with handle.", + "Move the bread block with light patches from table into the metal skillet", + "Lift the soft bread using the left arm and move it to the metal skillet with comfortable grip", + "Place the hand-sized bread block into the skillet with black cooking surface using the left arm", + "Move the cuboid bread to the metal skillet using the left arm", + "Take the soft bread and place it inside the flat-bottom skillet", + "Grab the cuboid bread with the left arm and place in the skillet with black cooking surface", + "Put the square-shaped bread into the medium-sized frying skillet after grabbing it", + "Use the left arm to grab the doughy and soft bread for the smooth non-stick skillet", + "Take the hand-sized bread block and put it in the flat-bottom skillet.", + "Take the cuboid bread and place it inside the skillet for frying food", + "Take the golden bread and set it into the round skillet with open handle end", + "Place the hand-sized bread block from the table into the smooth non-stick skillet" + ], + "unseen": [ + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the left arm.", + "Use the left arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode21.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..f09da56c3e1f016b9bfd4d4b48e7e1d4fd0674c4 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the bread loaf with bumpy surface and set it into the flat-bottom skillet", + "Pick the golden bread loaf with the right arm and set it in the metal skillet", + "Use the right arm to place the golden bread into the metal skillet", + "Use the right arm to move the square-shaped bread and set it into the skillet for frying food.", + "Grab the golden bread and place it inside the flat-bottom skillet", + "Use the right arm to pick the golden bread up for the medium-sized frying skillet", + "Use the right arm to pick the bread block with light patches and put it in the round skillet with open handle end", + "Take the light golden brown bread with the right arm and drop into the round skillet with open handle end", + "Pick up the bread loaf with uneven edges and place it in the gray skillet for stovetop cooking.", + "Set the cuboid bread into the medium-sized frying skillet after grabbing", + "Put the hand-sized bread block into the round skillet with open handle end.", + "Grab the bread loaf with uneven edges and drop it into the dark gray skillet", + "Use the right arm to grab the doughy and soft bread for the skillet for frying food", + "Pick the doughy and soft bread and transfer it to the round skillet with open handle end", + "Move the light golden brown bread into the skillet for frying food from the table", + "Use the right arm to grab the bread block with light patches and set it in the round skillet with handle.", + "Pick the doughy and soft bread off the table and place it in the smooth non-stick skillet.", + "Use the right arm to set the golden bread into the skillet with black cooking surface.", + "Use the right arm to grab the soft bread for the flat-bottom skillet", + "Put the bread block with light patches into the flat-bottom skillet after grabbing it", + "Pick the golden bread up using the right arm and drop it in the smooth non-stick skillet.", + "Place the bread block with light patches into the dark gray skillet using the right arm", + "Take the bread loaf with bumpy surface and place it inside the round skillet with handle", + "Place the bread with rough texture into the round skillet with open handle end with the right arm.", + "Grab the bread loaf with bumpy surface and place it inside the smooth non-stick skillet.", + "Use the right arm to move the golden bread into the black-surfaced skillet with gray sides", + "Grab the bread with rough texture and stick it in the round skillet with open handle end.", + "Grab the soft bread from the table and set it in the flat-bottom skillet.", + "Take the doughy and soft bread and put it in the skillet for frying food.", + "Take the hand-sized bread block and place it inside the skillet for frying food", + "Take the hand-sized bread block off the table into the medium-sized frying skillet", + "Use the right arm to stick the light golden brown bread into the black-surfaced skillet with gray sides.", + "Lift the square-shaped bread using the right arm and move it to the flat-bottom skillet", + "Lift the soft bread and drop it into the metal skillet with comfortable grip", + "Use the right arm to take the cuboid bread and move it into the skillet with black cooking surface.", + "Take the square-shaped bread and put it in the metal skillet.", + "Use the right arm to lift the bread loaf with bumpy surface and place it into the round skillet with handle.", + "Use the right arm to pick the light golden brown bread for the gray skillet for stovetop cooking", + "Transfer the bread loaf with uneven edges into the metal skillet with comfortable grip from the table", + "Take the hand-sized bread block and drop it into the metal skillet with comfortable grip.", + "Pick up the golden bread loaf and put it in the flat-bottom skillet", + "Use the right arm to pick the hand-sized bread block and place it into the flat-bottom skillet.", + "Grab the cuboid bread using the right arm and place it in the skillet for frying food", + "Move the bread block with light patches from table into the metal skillet with comfortable grip", + "Grab the square-shaped bread with the right arm and place in the gray skillet for stovetop cooking", + "Pick up the golden bread loaf with the right arm and drop it in the gray skillet for stovetop cooking", + "Move the golden bread to the black-surfaced skillet with gray sides using the right arm", + "Place the cuboid bread from the table into the medium-sized frying skillet", + "Pick the soft bread and set it into the medium-sized frying skillet.", + "Lift the bread with rough texture and drop it into the skillet with black cooking surface.", + "Take the bread loaf with uneven edges and set it into the flat-bottom skillet", + "Pick the bread with rough texture with the right arm and set it in the metal skillet", + "Use the right arm to place the hand-sized bread block into the black-surfaced skillet with gray sides", + "Use the right arm to move the bread block with light patches and set it into the round skillet with handle.", + "Grab the golden bread loaf and place it inside the medium-sized frying skillet", + "Use the right arm to pick the hand-sized bread block up for the medium-sized frying skillet", + "Use the right arm to pick the doughy and soft bread and put it in the flat-bottom skillet", + "Take the light golden brown bread with the right arm and drop into the smooth non-stick skillet", + "Pick up the bread loaf with bumpy surface and place it in the medium-sized frying skillet.", + "Set the doughy and soft bread into the dark gray skillet after grabbing", + "Put the bread with rough texture into the black-surfaced skillet with gray sides.", + "Grab the golden bread loaf and drop it into the black-surfaced skillet with gray sides", + "Use the right arm to grab the golden bread loaf for the black-surfaced skillet with gray sides", + "Pick the bread with rough texture and transfer it to the dark gray skillet", + "Move the bread loaf with uneven edges into the dark gray skillet from the table", + "Use the right arm to grab the cuboid bread and set it in the medium-sized frying skillet.", + "Pick the soft bread off the table and place it in the medium-sized frying skillet.", + "Use the right arm to set the bread block with light patches into the metal skillet with comfortable grip.", + "Use the right arm to grab the bread loaf with bumpy surface for the flat-bottom skillet", + "Put the bread loaf with bumpy surface into the metal skillet after grabbing it", + "Pick the bread loaf with uneven edges up using the right arm and drop it in the medium-sized frying skillet.", + "Place the light golden brown bread into the skillet for frying food using the right arm", + "Take the square-shaped bread and place it inside the flat-bottom skillet", + "Place the bread loaf with bumpy surface into the dark gray skillet with the right arm.", + "Grab the soft bread and place it inside the metal skillet with comfortable grip.", + "Use the right arm to move the golden bread into the black-surfaced skillet with gray sides", + "Grab the golden bread and stick it in the metal skillet.", + "Grab the cuboid bread from the table and set it in the medium-sized frying skillet.", + "Take the hand-sized bread block and put it in the dark gray skillet.", + "Take the square-shaped bread and place it inside the dark gray skillet", + "Take the cuboid bread off the table into the black-surfaced skillet with gray sides", + "Use the right arm to stick the light golden brown bread into the skillet for frying food.", + "Lift the hand-sized bread block using the right arm and move it to the medium-sized frying skillet", + "Lift the bread with rough texture and drop it into the round skillet with handle", + "Use the right arm to take the bread loaf with bumpy surface and move it into the metal skillet.", + "Take the hand-sized bread block and put it in the dark gray skillet.", + "Use the right arm to lift the golden bread and place it into the flat-bottom skillet.", + "Use the right arm to pick the bread block with light patches for the dark gray skillet", + "Transfer the bread block with light patches into the round skillet with open handle end from the table", + "Take the bread block with light patches and drop it into the skillet for frying food.", + "Pick up the hand-sized bread block and put it in the metal skillet with comfortable grip", + "Use the right arm to pick the soft bread and place it into the skillet for frying food.", + "Grab the bread block with light patches using the right arm and place it in the black-surfaced skillet with gray sides", + "Move the cuboid bread from table into the smooth non-stick skillet", + "Grab the golden bread loaf with the right arm and place in the round skillet with handle", + "Pick up the bread loaf with uneven edges with the right arm and drop it in the medium-sized frying skillet", + "Move the hand-sized bread block to the skillet for frying food using the right arm", + "Place the bread loaf with bumpy surface from the table into the medium-sized frying skillet", + "Pick the golden bread and set it into the gray skillet for stovetop cooking.", + "Lift the hand-sized bread block and drop it into the dark gray skillet." + ], + "unseen": [ + "Use the right arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Use the right arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the right arm.", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Use the right arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode22.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..bb703c0e9a49a239a999c87966c517686bf7c302 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the golden crusted bread slice and put it in the flat-bottom skillet.", + "Set the square loaf of bread into the skillet with black cooking surface after grabbing", + "Grab the rectangular bread soft inside and place it inside the metal skillet.", + "Pick the golden bread and transfer it to the dark gray skillet", + "Use the left arm to move the golden brown loaf-shaped bread into the metal skillet", + "Pick the bread loaf with square shape up using the left arm and drop it in the flat-bottom skillet.", + "Lift the golden bread using the left arm and move it to the gray skillet for stovetop cooking", + "Place the golden crusted bread slice from the table into the round skillet with open handle end", + "Place the golden bread into the metal skillet with the left arm.", + "Take the bread loaf with square shape and drop it into the medium-sized frying skillet.", + "Use the left arm to lift the soft golden baked bread and place it into the smooth non-stick skillet.", + "Use the left arm to set the golden bread into the metal skillet.", + "Pick up the brown bread loaf and place it in the medium-sized frying skillet.", + "Grab the slice-shaped bread and drop it into the medium-sized frying skillet", + "Move the slice-shaped bread into the medium-sized frying skillet from the table", + "Pick the rectangular bread soft inside and set it into the round skillet with open handle end.", + "Use the left arm to place the soft golden baked bread into the dark gray skillet", + "Lift the rectangular bread soft inside and drop it into the round skillet with handle.", + "Take the golden bread with the left arm and drop into the medium-sized frying skillet", + "Put the bread with rounded corners into the flat-bottom skillet after grabbing it", + "Lift the slice-shaped bread and drop it into the gray skillet for stovetop cooking", + "Use the left arm to grab the rectangular bread soft inside for the round skillet with open handle end", + "Grab the golden bread and place it inside the round skillet with handle", + "Use the left arm to stick the soft golden baked bread into the metal skillet with comfortable grip.", + "Grab the golden bread and stick it in the round skillet with handle.", + "Pick up the golden brown loaf-shaped bread with the left arm and drop it in the metal skillet with comfortable grip", + "Use the left arm to grab the slice-shaped bread and set it in the gray skillet for stovetop cooking.", + "Pick the golden bread off the table and place it in the skillet with black cooking surface.", + "Put the golden bread into the skillet for frying food.", + "Place the rectangular bread soft inside into the black-surfaced skillet with gray sides using the left arm", + "Use the left arm to grab the bread with rounded corners for the medium-sized frying skillet", + "Pick the rectangular bread soft inside with the left arm and set it in the medium-sized frying skillet", + "Use the left arm to pick the rectangular bread soft inside up for the smooth non-stick skillet", + "Pick up the bread with firm crust edges and put it in the medium-sized frying skillet", + "Grab the golden bread from the table and set it in the skillet with black cooking surface.", + "Take the golden brown loaf-shaped bread and set it into the flat-bottom skillet", + "Transfer the bread with firm crust edges into the smooth non-stick skillet from the table", + "Grab the brown bread loaf using the left arm and place it in the dark gray skillet", + "Take the bread with firm crust edges off the table into the dark gray skillet", + "Take the bread loaf with square shape and place it inside the gray skillet for stovetop cooking", + "Move the golden brown loaf-shaped bread to the metal skillet with comfortable grip using the left arm", + "Grab the golden bread with the left arm and place in the skillet for frying food", + "Take the bread loaf with square shape and place it inside the metal skillet with comfortable grip", + "Use the left arm to take the bread with rounded corners and move it into the metal skillet.", + "Use the left arm to pick the bread with golden surface color for the skillet for frying food", + "Move the bread with firm crust edges from table into the round skillet with open handle end", + "Use the left arm to pick the rectangular bread soft inside and place it into the black-surfaced skillet with gray sides.", + "Take the rectangular bread soft inside and put it in the skillet with black cooking surface.", + "Use the left arm to move the golden crusted bread slice and set it into the skillet for frying food.", + "Use the left arm to pick the bread loaf with square shape and put it in the metal skillet with comfortable grip", + "Take the golden bread and put it in the round skillet with open handle end.", + "Set the golden bread into the round skillet with open handle end after grabbing", + "Grab the bread with rounded corners and place it inside the metal skillet.", + "Pick the brown bread loaf and transfer it to the metal skillet", + "Use the left arm to move the golden bread into the skillet with black cooking surface", + "Pick the rectangular bread soft inside up using the left arm and drop it in the medium-sized frying skillet.", + "Lift the bread with firm crust edges using the left arm and move it to the metal skillet", + "Place the bread with golden surface color from the table into the round skillet with open handle end", + "Place the square loaf of bread into the smooth non-stick skillet with the left arm.", + "Take the slice-shaped bread and drop it into the dark gray skillet.", + "Use the left arm to lift the golden bread and place it into the round skillet with handle.", + "Use the left arm to set the soft golden baked bread into the gray skillet for stovetop cooking.", + "Pick up the slice-shaped bread and place it in the round skillet with handle.", + "Grab the golden crusted bread slice and drop it into the dark gray skillet", + "Move the golden bread into the flat-bottom skillet from the table", + "Pick the bread with golden surface color and set it into the round skillet with open handle end.", + "Use the left arm to place the bread with golden surface color into the black-surfaced skillet with gray sides", + "Lift the bread with golden surface color and drop it into the skillet for frying food.", + "Take the bread with golden surface color with the left arm and drop into the smooth non-stick skillet", + "Put the golden brown loaf-shaped bread into the round skillet with handle after grabbing it", + "Lift the rectangular bread soft inside and drop it into the flat-bottom skillet", + "Use the left arm to grab the square loaf of bread for the dark gray skillet", + "Grab the bread with golden surface color and place it inside the smooth non-stick skillet", + "Use the left arm to stick the slice-shaped bread into the skillet with black cooking surface.", + "Grab the brown bread loaf and stick it in the black-surfaced skillet with gray sides.", + "Pick up the golden brown loaf-shaped bread with the left arm and drop it in the black-surfaced skillet with gray sides", + "Use the left arm to grab the bread loaf with square shape and set it in the metal skillet with comfortable grip.", + "Pick the bread with rounded corners off the table and place it in the smooth non-stick skillet.", + "Put the square loaf of bread into the metal skillet with comfortable grip.", + "Place the bread with golden surface color into the metal skillet using the left arm", + "Use the left arm to grab the bread with firm crust edges for the metal skillet with comfortable grip", + "Pick the bread with golden surface color with the left arm and set it in the skillet with black cooking surface", + "Use the left arm to pick the rectangular bread soft inside up for the gray skillet for stovetop cooking", + "Pick up the bread with firm crust edges and put it in the metal skillet with comfortable grip", + "Grab the golden brown loaf-shaped bread from the table and set it in the medium-sized frying skillet.", + "Take the bread with rounded corners and set it into the dark gray skillet", + "Transfer the rectangular bread soft inside into the black-surfaced skillet with gray sides from the table", + "Grab the rectangular bread soft inside using the left arm and place it in the smooth non-stick skillet", + "Take the bread loaf with square shape off the table into the round skillet with open handle end", + "Take the bread with rounded corners and place it inside the round skillet with open handle end", + "Move the bread with firm crust edges to the gray skillet for stovetop cooking using the left arm", + "Grab the bread loaf with square shape with the left arm and place in the black-surfaced skillet with gray sides", + "Take the brown bread loaf and place it inside the skillet for frying food", + "Use the left arm to take the bread loaf with square shape and move it into the flat-bottom skillet.", + "Use the left arm to pick the golden bread for the dark gray skillet", + "Move the bread with rounded corners from table into the metal skillet with comfortable grip", + "Use the left arm to pick the rectangular bread soft inside and place it into the metal skillet.", + "Take the bread with rounded corners and put it in the skillet with black cooking surface.", + "Use the left arm to move the bread loaf with square shape and set it into the round skillet with open handle end.", + "Use the left arm to pick the slice-shaped bread and put it in the smooth non-stick skillet" + ], + "unseen": [ + "Grab the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing.", + "Move the bread loaf medium-sized to the versatile skillet for frying and sauteing using the left arm.", + "Take the bread loaf medium-sized and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it in the dark skillet with shiny finish", + "Pick up the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle", + "Pick the small loaf-shaped bread up and place it in the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the small loaf-shaped bread to the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and place it into the dark skillet with shiny finish.", + "Grab the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing.", + "Move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and place it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Pick the small loaf-shaped bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the small loaf-shaped bread to the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle.", + "Move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and place it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Pick the soft rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread loaf medium-sized to the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Move the soft rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and place it in the pan-shaped skillet with hole in handle", + "Pick up the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle", + "Pick the small loaf-shaped bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Grab the small loaf-shaped bread and place it into the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Move the bread loaf medium-sized to the dark skillet with shiny finish using the left arm.", + "Take the small loaf-shaped bread and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and place it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle", + "Pick the soft rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and place it into the pan-shaped skillet with hole in handle.", + "Grab the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Move the small loaf-shaped bread to the dark skillet with shiny finish using the left arm.", + "Take the soft rectangular bread loaf and put it in the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it in the versatile skillet for frying and sauteing", + "Pick up the soft rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Pick the soft rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Use the left arm to move the bread loaf medium-sized to the pan-shaped skillet with hole in handle.", + "Grab the bread loaf medium-sized and place it into the pan-shaped skillet with hole in handle.", + "Grab the small loaf-shaped bread and drop it into the dark skillet with shiny finish.", + "Move the small loaf-shaped bread to the versatile skillet for frying and sauteing using the left arm.", + "Take the soft rectangular bread loaf and put it in the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it in the dark skillet with shiny finish", + "Pick up the small loaf-shaped bread and drop it into the dark skillet with shiny finish", + "Pick the bread loaf medium-sized up and place it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the small loaf-shaped bread to the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and place it into the dark skillet with shiny finish.", + "Grab the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Move the small loaf-shaped bread to the versatile skillet for frying and sauteing using the left arm.", + "Take the soft rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it in the dark skillet with shiny finish", + "Pick up the small loaf-shaped bread and drop it into the dark skillet with shiny finish", + "Pick the small loaf-shaped bread up and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the soft rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Take the small loaf-shaped bread and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and place it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing", + "Pick the bread loaf medium-sized up and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Use the left arm to move the soft rectangular bread loaf to the dark skillet with shiny finish.", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Move the bread loaf medium-sized to the pan-shaped skillet with hole in handle using the left arm.", + "Take the small loaf-shaped bread and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and place it in the pan-shaped skillet with hole in handle", + "Pick up the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Pick the soft rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the small loaf-shaped bread to the pan-shaped skillet with hole in handle.", + "Grab the small loaf-shaped bread and place it into the versatile skillet for frying and sauteing." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode23.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..f5908fd4ee2c8ff9bd9673fb570683e7af40ea3a --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the bread with soft texture from the table into the medium-sized frying skillet", + "Pick up the bread with soft texture with the right arm and drop it in the smooth non-stick skillet", + "Pick the bread with rounded edges with the right arm and set it in the smooth non-stick skillet", + "Grab the light brown porous bread and place it inside the round skillet with open handle end.", + "Grab the bread with rounded edges from the table and set it in the medium-sized frying skillet.", + "Use the right arm to pick the bread with soft texture for the medium-sized frying skillet", + "Use the right arm to move the bread with soft texture into the skillet for frying food", + "Take the medium-sized bread piece off the table into the skillet for frying food", + "Use the right arm to move the fluffy baked bread and set it into the dark gray skillet.", + "Place the bread with rounded edges into the metal skillet with comfortable grip with the right arm.", + "Use the right arm to pick the square-shaped bread piece and place it into the flat-bottom skillet.", + "Take the square-shaped bread piece and drop it into the metal skillet with comfortable grip.", + "Pick up the sponge-textured golden bread and put it in the dark gray skillet", + "Pick the medium bread with rounded sides up using the right arm and drop it in the dark gray skillet.", + "Use the right arm to stick the fluffy baked bread into the medium-sized frying skillet.", + "Pick the golden baked bread and set it into the round skillet with handle.", + "Use the right arm to grab the golden baked bread for the black-surfaced skillet with gray sides", + "Take the light brown porous bread with the right arm and drop into the dark gray skillet", + "Place the fluffy baked bread into the medium-sized frying skillet using the right arm", + "Pick the square-shaped bread piece off the table and place it in the black-surfaced skillet with gray sides.", + "Set the golden brown bread into the dark gray skillet after grabbing", + "Take the bread with rounded edges and place it inside the round skillet with open handle end", + "Use the right arm to grab the bread with rounded edges for the black-surfaced skillet with gray sides", + "Grab the soft square bread and stick it in the round skillet with handle.", + "Use the right arm to pick the bread with soft texture up for the smooth non-stick skillet", + "Lift the fluffy baked bread using the right arm and move it to the metal skillet", + "Move the light brown porous bread to the black-surfaced skillet with gray sides using the right arm", + "Use the right arm to place the sponge-textured golden bread into the gray skillet for stovetop cooking", + "Move the soft square bread from table into the dark gray skillet", + "Grab the golden brown bread using the right arm and place it in the metal skillet", + "Grab the bread with rounded edges with the right arm and place in the round skillet with open handle end", + "Use the right arm to take the square-shaped bread piece and move it into the metal skillet with comfortable grip.", + "Use the right arm to grab the fluffy baked bread and set it in the smooth non-stick skillet.", + "Pick the light brown porous bread and transfer it to the skillet for frying food", + "Move the medium bread with rounded sides into the black-surfaced skillet with gray sides from the table", + "Put the soft square bread into the flat-bottom skillet after grabbing it", + "Pick up the light brown porous bread and place it in the gray skillet for stovetop cooking.", + "Use the right arm to set the light brown porous bread into the black-surfaced skillet with gray sides.", + "Grab the square-shaped bread piece and place it inside the medium-sized frying skillet", + "Use the right arm to pick the light brown porous bread and put it in the round skillet with open handle end", + "Take the bread with soft texture and set it into the gray skillet for stovetop cooking", + "Lift the soft square bread and drop it into the metal skillet", + "Transfer the rounded square loaf into the flat-bottom skillet from the table", + "Put the medium-sized bread piece into the black-surfaced skillet with gray sides.", + "Take the rounded square loaf and put it in the skillet with black cooking surface.", + "Lift the medium-sized bread piece and drop it into the metal skillet with comfortable grip.", + "Grab the golden baked bread and drop it into the smooth non-stick skillet", + "Take the bread with soft texture and place it inside the skillet with black cooking surface", + "Take the rounded square loaf and put it in the gray skillet for stovetop cooking.", + "Use the right arm to lift the medium-sized bread piece and place it into the gray skillet for stovetop cooking.", + "Place the bread with rounded edges from the table into the metal skillet", + "Pick up the bread with rounded edges with the right arm and drop it in the skillet for frying food", + "Pick the golden baked bread with the right arm and set it in the smooth non-stick skillet", + "Grab the medium bread with rounded sides and place it inside the gray skillet for stovetop cooking.", + "Grab the bread with soft texture from the table and set it in the metal skillet.", + "Use the right arm to pick the golden brown bread for the metal skillet", + "Use the right arm to move the golden baked bread into the flat-bottom skillet", + "Take the bread with soft texture off the table into the round skillet with open handle end", + "Use the right arm to move the fluffy baked bread and set it into the dark gray skillet.", + "Place the bread with soft texture into the flat-bottom skillet with the right arm.", + "Use the right arm to pick the bread with rounded edges and place it into the flat-bottom skillet.", + "Take the sponge-textured golden bread and drop it into the skillet for frying food.", + "Pick up the light brown porous bread and put it in the smooth non-stick skillet", + "Pick the sponge-textured golden bread up using the right arm and drop it in the skillet with black cooking surface.", + "Use the right arm to stick the golden baked bread into the dark gray skillet.", + "Pick the medium-sized bread piece and set it into the gray skillet for stovetop cooking.", + "Use the right arm to grab the bread with soft texture for the metal skillet", + "Take the rounded square loaf with the right arm and drop into the flat-bottom skillet", + "Place the sponge-textured golden bread into the skillet for frying food using the right arm", + "Pick the medium-sized bread piece off the table and place it in the dark gray skillet.", + "Set the soft square bread into the skillet for frying food after grabbing", + "Take the fluffy baked bread and place it inside the gray skillet for stovetop cooking", + "Use the right arm to grab the sponge-textured golden bread for the skillet with black cooking surface", + "Grab the golden brown bread and stick it in the medium-sized frying skillet.", + "Use the right arm to pick the rounded square loaf up for the skillet with black cooking surface", + "Lift the light brown porous bread using the right arm and move it to the dark gray skillet", + "Move the golden brown bread to the round skillet with open handle end using the right arm", + "Use the right arm to place the square-shaped bread piece into the round skillet with handle", + "Move the rounded square loaf from table into the smooth non-stick skillet", + "Grab the soft square bread using the right arm and place it in the skillet for frying food", + "Grab the sponge-textured golden bread with the right arm and place in the metal skillet", + "Use the right arm to take the golden baked bread and move it into the metal skillet.", + "Use the right arm to grab the golden brown bread and set it in the black-surfaced skillet with gray sides.", + "Pick the medium-sized bread piece and transfer it to the round skillet with handle", + "Move the square-shaped bread piece into the smooth non-stick skillet from the table", + "Put the golden brown bread into the dark gray skillet after grabbing it", + "Pick up the medium-sized bread piece and place it in the metal skillet with comfortable grip.", + "Use the right arm to set the sponge-textured golden bread into the metal skillet.", + "Grab the soft square bread and place it inside the round skillet with open handle end", + "Use the right arm to pick the soft square bread and put it in the dark gray skillet", + "Take the golden baked bread and set it into the black-surfaced skillet with gray sides", + "Lift the rounded square loaf and drop it into the black-surfaced skillet with gray sides", + "Transfer the rounded square loaf into the round skillet with open handle end from the table", + "Put the medium-sized bread piece into the gray skillet for stovetop cooking.", + "Take the medium-sized bread piece and put it in the flat-bottom skillet.", + "Lift the golden brown bread and drop it into the dark gray skillet.", + "Grab the light brown porous bread and drop it into the gray skillet for stovetop cooking", + "Take the square-shaped bread piece and place it inside the smooth non-stick skillet", + "Take the medium-sized bread piece and put it in the metal skillet with comfortable grip.", + "Use the right arm to lift the bread with rounded edges and place it into the black-surfaced skillet with gray sides." + ], + "unseen": [ + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and place it into the pan-shaped skillet with hole in handle.", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the dark skillet with shiny finish using the right arm.", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Use the right arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Grab the spongy golden brown bread and place it into the pan-shaped skillet with hole in handle.", + "Take the spongy golden brown bread and put it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the right arm.", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Pick the soft bread with golden edges up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Use the right arm to move the soft bread with golden edges to the dark skillet with shiny finish.", + "Pick up the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Pick the square bread with light spots up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the versatile skillet for frying and sauteing using the right arm.", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Use the right arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Take the spongy golden brown bread and put it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the right arm.", + "Grab the spongy golden brown bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Move the square bread with light spots to the dark skillet with shiny finish using the right arm.", + "Grab the spongy golden brown bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Pick up the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Pick the soft bread with golden edges up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the soft bread with golden edges and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Pick up the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Move the square bread with light spots to the dark skillet with shiny finish using the right arm.", + "Grab the square bread with light spots and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the spongy golden brown bread to the versatile skillet for frying and sauteing.", + "Pick up the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Pick the square bread with light spots up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the square bread with light spots and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Pick the soft bread with golden edges up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Grab the square bread with light spots and place it into the versatile skillet for frying and sauteing.", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Move the square bread with light spots to the versatile skillet for frying and sauteing using the right arm.", + "Grab the spongy golden brown bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode24.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..67ad5fb2d749f92bc9deee4e37efb95a57304979 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the hand-sized bread block using the left arm and move it to the versatile skillet for stovetop cooking", + "Put the hand-sized bread block into the versatile skillet for stovetop cooking after grabbing it", + "Use the left arm to grab the hand-sized bread block and set it in the medium black pan with handle.", + "Lift the bread loaf with bumpy surface and drop it into the heavy black cooking skillet.", + "Pick up the soft bread and place it in the heavy black cooking skillet.", + "Move the soft bread from table into the solid dark-colored round pan", + "Put the hand-sized bread block into the dark pan with sturdy grip.", + "Grab the hand-sized bread block and place it inside the smooth round pan made of iron", + "Take the bread loaf with bumpy surface and place it inside the round cooking pan", + "Take the light golden brown bread with the left arm and drop into the black skillet with smooth base", + "Grab the bread loaf with uneven edges and drop it into the medium black pan with handle", + "Grab the square-shaped bread with the left arm and place in the round cooking pan", + "Place the hand-sized bread block into the black skillet with smooth base using the left arm", + "Use the left arm to set the golden bread loaf into the skillet with extended grip handle.", + "Pick up the hand-sized bread block and put it in the smooth round pan made of iron", + "Place the golden bread into the black skillet with smooth base with the left arm.", + "Transfer the bread with rough texture into the medium black pan with handle from the table", + "Use the left arm to place the golden bread loaf into the smooth round pan made of iron", + "Take the bread loaf with bumpy surface and drop it into the skillet with extended grip handle.", + "Take the hand-sized bread block and set it into the skillet with extended grip handle", + "Grab the bread loaf with uneven edges and stick it in the black pan with curved edges.", + "Use the left arm to grab the golden bread for the versatile skillet for stovetop cooking", + "Pick the bread with rough texture up using the left arm and drop it in the round cooking pan.", + "Use the left arm to take the soft bread and move it into the versatile skillet for stovetop cooking.", + "Use the left arm to pick the light golden brown bread up for the dark pan with sturdy grip", + "Take the golden bread and put it in the round cooking pan.", + "Grab the square-shaped bread using the left arm and place it in the skillet with extended grip handle", + "Use the left arm to pick the light golden brown bread and put it in the round cooking pan", + "Pick the golden bread and transfer it to the black skillet with smooth base", + "Lift the doughy and soft bread and drop it into the black skillet with smooth base", + "Use the left arm to pick the bread loaf with uneven edges and place it into the dark pan with sturdy grip.", + "Pick the cuboid bread off the table and place it in the medium black pan with handle.", + "Use the left arm to move the hand-sized bread block and set it into the solid dark-colored round pan.", + "Grab the doughy and soft bread from the table and set it in the solid dark-colored round pan.", + "Use the left arm to pick the bread with rough texture for the round pan with hole in handle", + "Pick the light golden brown bread with the left arm and set it in the heavy black cooking skillet", + "Take the golden bread loaf off the table into the dark pan with sturdy grip", + "Use the left arm to move the golden bread into the flat-bottomed skillet with long handle", + "Take the cuboid bread and put it in the heavy black cooking skillet.", + "Grab the light golden brown bread and place it inside the solid dark-colored round pan.", + "Pick up the bread block with light patches with the left arm and drop it in the solid dark-colored round pan", + "Use the left arm to stick the bread with rough texture into the flat-bottomed skillet with long handle.", + "Place the bread loaf with uneven edges from the table into the heavy black cooking skillet", + "Take the hand-sized bread block and place it inside the black skillet with smooth base", + "Use the left arm to lift the bread block with light patches and place it into the skillet with extended grip handle.", + "Pick the light golden brown bread and set it into the dark pan with sturdy grip.", + "Use the left arm to grab the light golden brown bread for the flat-bottomed skillet with long handle", + "Move the light golden brown bread to the flat-bottomed skillet with long handle using the left arm", + "Set the doughy and soft bread into the dark pan with sturdy grip after grabbing", + "Move the bread loaf with uneven edges into the black skillet with smooth base from the table", + "Lift the cuboid bread using the left arm and move it to the solid dark-colored round pan", + "Put the square-shaped bread into the smooth round pan made of iron after grabbing it", + "Use the left arm to grab the soft bread and set it in the black skillet with smooth base.", + "Lift the hand-sized bread block and drop it into the medium black pan with handle.", + "Pick up the golden bread loaf and place it in the smooth round pan made of iron.", + "Move the bread loaf with bumpy surface from table into the heavy black cooking skillet", + "Put the soft bread into the solid dark-colored round pan.", + "Grab the hand-sized bread block and place it inside the round cooking pan", + "Take the bread with rough texture and place it inside the solid dark-colored round pan", + "Take the golden bread with the left arm and drop into the black pan with curved edges", + "Grab the golden bread and drop it into the solid dark-colored round pan", + "Grab the bread with rough texture with the left arm and place in the medium black pan with handle", + "Place the cuboid bread into the heavy black cooking skillet using the left arm", + "Use the left arm to set the doughy and soft bread into the skillet with extended grip handle.", + "Pick up the light golden brown bread and put it in the solid dark-colored round pan", + "Place the golden bread loaf into the smooth round pan made of iron with the left arm.", + "Transfer the golden bread loaf into the black pan with curved edges from the table", + "Use the left arm to place the soft bread into the round pan with hole in handle", + "Take the golden bread loaf and drop it into the solid dark-colored round pan.", + "Take the bread with rough texture and set it into the versatile skillet for stovetop cooking", + "Grab the hand-sized bread block and stick it in the flat-bottomed skillet with long handle.", + "Use the left arm to grab the cuboid bread for the skillet with extended grip handle", + "Pick the bread loaf with bumpy surface up using the left arm and drop it in the round pan with hole in handle.", + "Use the left arm to take the bread loaf with uneven edges and move it into the round cooking pan.", + "Use the left arm to pick the bread with rough texture up for the round cooking pan", + "Take the doughy and soft bread and put it in the heavy black cooking skillet.", + "Grab the bread with rough texture using the left arm and place it in the flat-bottomed skillet with long handle", + "Use the left arm to pick the bread loaf with uneven edges and put it in the smooth round pan made of iron", + "Pick the bread with rough texture and transfer it to the round pan with hole in handle", + "Lift the doughy and soft bread and drop it into the dark pan with sturdy grip", + "Use the left arm to pick the golden bread and place it into the smooth round pan made of iron.", + "Pick the bread with rough texture off the table and place it in the skillet with extended grip handle.", + "Use the left arm to move the bread loaf with bumpy surface and set it into the flat-bottomed skillet with long handle.", + "Grab the bread loaf with bumpy surface from the table and set it in the heavy black cooking skillet.", + "Use the left arm to pick the bread block with light patches for the heavy black cooking skillet", + "Pick the bread with rough texture with the left arm and set it in the heavy black cooking skillet", + "Take the bread with rough texture off the table into the dark pan with sturdy grip", + "Use the left arm to move the light golden brown bread into the flat-bottomed skillet with long handle", + "Take the soft bread and put it in the versatile skillet for stovetop cooking.", + "Grab the golden bread and place it inside the heavy black cooking skillet.", + "Pick up the doughy and soft bread with the left arm and drop it in the smooth round pan made of iron", + "Use the left arm to stick the golden bread into the round cooking pan.", + "Place the bread loaf with uneven edges from the table into the black pan with curved edges", + "Take the bread block with light patches and place it inside the dark pan with sturdy grip", + "Use the left arm to lift the square-shaped bread and place it into the black pan with curved edges.", + "Pick the golden bread and set it into the versatile skillet for stovetop cooking.", + "Use the left arm to grab the square-shaped bread for the flat-bottomed skillet with long handle", + "Move the golden bread to the heavy black cooking skillet using the left arm", + "Set the golden bread into the solid dark-colored round pan after grabbing", + "Move the square-shaped bread into the smooth round pan made of iron from the table" + ], + "unseen": [ + "Grab the bread with golden crust and place it into the round cast-iron skillet.", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Move the rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Take the rectangular bread loaf and put it in the black skillet", + "Use the left arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Use the left arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Pick up the bread with golden crust and drop it into the black skillet", + "Move the bread with golden crust to the black skillet using the left arm.", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Take the rectangular bread loaf and put it in the iron skillet for frying foods", + "Use the left arm to grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Use the left arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Grab the bread with golden crust and place it in the black skillet", + "Grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it into the black skillet.", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Move the bread loaf with soft surface to the black skillet using the left arm.", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Take the bread with golden crust and put it in the round cast-iron skillet", + "Use the left arm to grab the rectangular bread loaf and set it in the black skillet", + "Use the left arm to move the bread loaf with soft surface to the iron skillet for frying foods.", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it in the black skillet", + "Grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Move the rectangular bread loaf to the round cast-iron skillet using the left arm.", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Take the bread loaf with soft surface and put it in the black skillet", + "Use the left arm to grab the bread with golden crust and set it in the black skillet", + "Use the left arm to move the bread loaf with soft surface to the iron skillet for frying foods.", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Grab the bread with golden crust and set it in the black skillet", + "Grab the bread with golden crust and place it into the black skillet.", + "Pick up the bread with golden crust and drop it into the black skillet", + "Move the rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Take the bread loaf with soft surface and put it in the black skillet", + "Use the left arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Use the left arm to move the rectangular bread loaf to the round cast-iron skillet.", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Grab the bread with golden crust and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Pick up the bread with golden crust and drop it into the black skillet", + "Move the rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Take the bread with golden crust and put it in the black skillet", + "Use the left arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Use the left arm to move the bread with golden crust to the round cast-iron skillet.", + "Pick the bread with golden crust up and place it in the black skillet", + "Grab the rectangular bread loaf and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and set it in the black skillet", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Move the bread loaf with soft surface to the round cast-iron skillet using the left arm.", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Take the bread loaf with soft surface and put it in the black skillet", + "Use the left arm to grab the bread loaf with soft surface and set it in the black skillet", + "Use the left arm to move the bread with golden crust to the black skillet.", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Move the rectangular bread loaf to the round cast-iron skillet using the left arm.", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Take the bread loaf with soft surface and put it in the round cast-iron skillet", + "Use the left arm to grab the bread with golden crust and set it in the black skillet", + "Use the left arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Grab the rectangular bread loaf and place it in the black skillet", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Move the bread loaf with soft surface to the black skillet using the left arm.", + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Use the left arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Use the left arm to move the bread with golden crust to the round cast-iron skillet.", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the black skillet", + "Grab the bread with golden crust and place it into the round cast-iron skillet.", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Move the bread with golden crust to the iron skillet for frying foods using the left arm.", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Take the rectangular bread loaf and put it in the round cast-iron skillet", + "Use the left arm to grab the bread with golden crust and set it in the black skillet", + "Use the left arm to move the rectangular bread loaf to the black skillet.", + "Pick the bread loaf with soft surface up and place it in the black skillet", + "Grab the rectangular bread loaf and place it in the black skillet", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode25.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..528c9a22ef13319749f667983e4f916513adad0b --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the golden bread with the left arm and drop into the black skillet with smooth base", + "Use the left arm to place the cuboid bread into the round cooking pan", + "Place the soft bread into the black pan with curved edges using the left arm", + "Grab the golden bread and place it inside the round pan with hole in handle", + "Use the left arm to grab the square-shaped bread for the dark pan with sturdy grip", + "Lift the cuboid bread and drop it into the versatile skillet for stovetop cooking.", + "Use the left arm to take the bread block with light patches and move it into the black skillet with smooth base.", + "Take the hand-sized bread block off the table into the round pan with hole in handle", + "Use the left arm to move the golden bread into the heavy black cooking skillet", + "Grab the golden bread loaf from the table and set it in the black pan with curved edges.", + "Pick up the hand-sized bread block and place it in the smooth round pan made of iron.", + "Grab the square-shaped bread with the left arm and place in the flat-bottomed skillet with long handle", + "Place the golden bread loaf from the table into the black skillet with smooth base", + "Transfer the bread with rough texture into the smooth round pan made of iron from the table", + "Grab the square-shaped bread and stick it in the black skillet with smooth base.", + "Pick the golden bread loaf and set it into the versatile skillet for stovetop cooking.", + "Take the soft bread and place it inside the solid dark-colored round pan", + "Pick up the square-shaped bread and put it in the black pan with curved edges", + "Pick the doughy and soft bread off the table and place it in the black skillet with smooth base.", + "Lift the cuboid bread and drop it into the round pan with hole in handle", + "Lift the bread with rough texture using the left arm and move it to the medium black pan with handle", + "Use the left arm to lift the cuboid bread and place it into the smooth round pan made of iron.", + "Grab the doughy and soft bread using the left arm and place it in the black skillet with smooth base", + "Place the golden bread into the skillet with extended grip handle with the left arm.", + "Use the left arm to grab the soft bread and set it in the skillet with extended grip handle.", + "Grab the bread loaf with uneven edges and place it inside the smooth round pan made of iron.", + "Use the left arm to pick the bread with rough texture and place it into the black pan with curved edges.", + "Pick the bread block with light patches up using the left arm and drop it in the black pan with curved edges.", + "Take the golden bread loaf and drop it into the versatile skillet for stovetop cooking.", + "Take the soft bread and place it inside the round cooking pan", + "Use the left arm to move the doughy and soft bread and set it into the heavy black cooking skillet.", + "Grab the light golden brown bread and drop it into the round cooking pan", + "Put the golden bread into the round pan with hole in handle after grabbing it", + "Take the golden bread and set it into the round pan with hole in handle", + "Use the left arm to stick the golden bread loaf into the round pan with hole in handle.", + "Pick up the bread loaf with uneven edges with the left arm and drop it in the round pan with hole in handle", + "Take the bread loaf with bumpy surface and put it in the versatile skillet for stovetop cooking.", + "Move the hand-sized bread block into the smooth round pan made of iron from the table", + "Put the doughy and soft bread into the black pan with curved edges.", + "Move the bread loaf with bumpy surface to the solid dark-colored round pan using the left arm", + "Pick the golden bread and transfer it to the round pan with hole in handle", + "Pick the soft bread with the left arm and set it in the heavy black cooking skillet", + "Use the left arm to pick the light golden brown bread and put it in the round cooking pan", + "Use the left arm to set the golden bread loaf into the round cooking pan.", + "Take the light golden brown bread and put it in the solid dark-colored round pan.", + "Use the left arm to grab the bread loaf with uneven edges for the round pan with hole in handle", + "Set the soft bread into the skillet with extended grip handle after grabbing", + "Use the left arm to pick the square-shaped bread up for the solid dark-colored round pan", + "Use the left arm to pick the bread loaf with uneven edges for the versatile skillet for stovetop cooking", + "Move the light golden brown bread from table into the black pan with curved edges", + "Take the cuboid bread with the left arm and drop into the black pan with curved edges", + "Use the left arm to place the light golden brown bread into the skillet with extended grip handle", + "Place the bread block with light patches into the smooth round pan made of iron using the left arm", + "Grab the hand-sized bread block and place it inside the versatile skillet for stovetop cooking", + "Use the left arm to grab the doughy and soft bread for the solid dark-colored round pan", + "Lift the hand-sized bread block and drop it into the skillet with extended grip handle.", + "Use the left arm to take the doughy and soft bread and move it into the round cooking pan.", + "Take the bread with rough texture off the table into the versatile skillet for stovetop cooking", + "Use the left arm to move the bread with rough texture into the black skillet with smooth base", + "Grab the doughy and soft bread from the table and set it in the round pan with hole in handle.", + "Pick up the bread with rough texture and place it in the smooth round pan made of iron.", + "Grab the doughy and soft bread with the left arm and place in the dark pan with sturdy grip", + "Place the bread loaf with uneven edges from the table into the medium black pan with handle", + "Transfer the bread loaf with uneven edges into the skillet with extended grip handle from the table", + "Grab the hand-sized bread block and stick it in the black pan with curved edges.", + "Pick the square-shaped bread and set it into the round pan with hole in handle.", + "Take the bread loaf with bumpy surface and place it inside the black skillet with smooth base", + "Pick up the light golden brown bread and put it in the round cooking pan", + "Pick the bread loaf with uneven edges off the table and place it in the round pan with hole in handle.", + "Lift the bread with rough texture and drop it into the smooth round pan made of iron", + "Lift the light golden brown bread using the left arm and move it to the solid dark-colored round pan", + "Use the left arm to lift the golden bread and place it into the solid dark-colored round pan.", + "Grab the doughy and soft bread using the left arm and place it in the heavy black cooking skillet", + "Place the doughy and soft bread into the smooth round pan made of iron with the left arm.", + "Use the left arm to grab the bread block with light patches and set it in the medium black pan with handle.", + "Grab the bread loaf with bumpy surface and place it inside the skillet with extended grip handle.", + "Use the left arm to pick the bread block with light patches and place it into the flat-bottomed skillet with long handle.", + "Pick the golden bread up using the left arm and drop it in the skillet with extended grip handle.", + "Take the hand-sized bread block and drop it into the versatile skillet for stovetop cooking.", + "Take the doughy and soft bread and place it inside the versatile skillet for stovetop cooking", + "Use the left arm to move the bread loaf with bumpy surface and set it into the solid dark-colored round pan.", + "Grab the bread block with light patches and drop it into the versatile skillet for stovetop cooking", + "Put the golden bread into the dark pan with sturdy grip after grabbing it", + "Take the bread loaf with bumpy surface and set it into the dark pan with sturdy grip", + "Use the left arm to stick the golden bread loaf into the skillet with extended grip handle.", + "Pick up the doughy and soft bread with the left arm and drop it in the dark pan with sturdy grip", + "Take the doughy and soft bread and put it in the black skillet with smooth base.", + "Move the bread loaf with bumpy surface into the versatile skillet for stovetop cooking from the table", + "Put the square-shaped bread into the solid dark-colored round pan.", + "Move the golden bread to the round cooking pan using the left arm", + "Pick the light golden brown bread and transfer it to the flat-bottomed skillet with long handle", + "Pick the light golden brown bread with the left arm and set it in the black pan with curved edges", + "Use the left arm to pick the bread loaf with uneven edges and put it in the versatile skillet for stovetop cooking", + "Use the left arm to set the doughy and soft bread into the smooth round pan made of iron.", + "Take the bread with rough texture and put it in the solid dark-colored round pan.", + "Use the left arm to grab the square-shaped bread for the round cooking pan", + "Set the doughy and soft bread into the skillet with extended grip handle after grabbing", + "Use the left arm to pick the golden bread loaf up for the round pan with hole in handle", + "Use the left arm to pick the hand-sized bread block for the solid dark-colored round pan", + "Move the golden bread loaf from table into the dark pan with sturdy grip" + ], + "unseen": [ + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Use the left arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Use the left arm to grab the rectangular bread loaf and set it in the black skillet", + "Move the bread loaf with soft surface to the black skillet using the left arm.", + "Grab the rectangular bread loaf and drop it into the black skillet.", + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the black skillet", + "Grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it in the round cast-iron skillet", + "Use the left arm to move the bread with golden crust to the iron skillet for frying foods.", + "Grab the rectangular bread loaf and place it into the black skillet.", + "Use the left arm to grab the bread loaf with soft surface and set it in the black skillet", + "Move the bread with golden crust to the black skillet using the left arm.", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Take the bread loaf with soft surface and put it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Use the left arm to move the rectangular bread loaf to the round cast-iron skillet.", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Use the left arm to grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Move the rectangular bread loaf to the round cast-iron skillet using the left arm.", + "Grab the bread loaf with soft surface and drop it into the round cast-iron skillet.", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Take the rectangular bread loaf and put it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the bread with golden crust and place it in the iron skillet for frying foods", + "Use the left arm to move the bread with golden crust to the round cast-iron skillet.", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Use the left arm to grab the bread with golden crust and set it in the black skillet", + "Move the bread with golden crust to the iron skillet for frying foods using the left arm.", + "Grab the rectangular bread loaf and drop it into the black skillet.", + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods", + "Take the rectangular bread loaf and put it in the round cast-iron skillet", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Grab the bread loaf with soft surface and set it in the black skillet", + "Grab the bread with golden crust and place it in the black skillet", + "Use the left arm to move the bread with golden crust to the iron skillet for frying foods.", + "Grab the bread with golden crust and place it into the black skillet.", + "Use the left arm to grab the bread with golden crust and set it in the black skillet", + "Move the bread with golden crust to the black skillet using the left arm.", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Pick the bread loaf with soft surface up and place it in the black skillet", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the round cast-iron skillet", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it in the black skillet", + "Use the left arm to move the bread with golden crust to the black skillet.", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Use the left arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Move the bread loaf with soft surface to the black skillet using the left arm.", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Take the bread loaf with soft surface and put it in the round cast-iron skillet", + "Pick up the bread loaf with soft surface and drop it into the round cast-iron skillet", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Use the left arm to move the bread with golden crust to the round cast-iron skillet.", + "Grab the bread with golden crust and place it into the black skillet.", + "Use the left arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Move the bread with golden crust to the round cast-iron skillet using the left arm.", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Take the bread loaf with soft surface and put it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Use the left arm to move the bread with golden crust to the black skillet.", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Use the left arm to grab the bread with golden crust and set it in the black skillet", + "Move the bread loaf with soft surface to the black skillet using the left arm.", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Pick the bread with golden crust up and place it in the black skillet", + "Take the bread with golden crust and put it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Use the left arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Use the left arm to grab the rectangular bread loaf and set it in the black skillet", + "Move the rectangular bread loaf to the black skillet using the left arm.", + "Grab the bread loaf with soft surface and drop it into the round cast-iron skillet.", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Take the bread with golden crust and put it in the round cast-iron skillet", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Use the left arm to move the rectangular bread loaf to the round cast-iron skillet.", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Use the left arm to grab the rectangular bread loaf and set it in the black skillet", + "Move the bread loaf with soft surface to the black skillet using the left arm.", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Pick the bread with golden crust up and place it in the black skillet", + "Take the bread with golden crust and put it in the iron skillet for frying foods" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode26.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..d1e857e063122927187ed6e13c10df6aedfc2121 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the brown loaf into the round skillet with handle after grabbing", + "Place the smooth loaf with rounded edges into the round skillet with open handle end using the right arm", + "Pick up the bread with split top and place it in the skillet for frying food.", + "Pick the brown loaf with the right arm and set it in the metal skillet", + "Use the right arm to pick the bread with split top and put it in the skillet with black cooking surface", + "Grab the small loaf with curved top and drop it into the metal skillet with comfortable grip", + "Lift the golden bread loaf and drop it into the smooth non-stick skillet", + "Grab the small golden brown bread and stick it in the skillet for frying food.", + "Grab the bread with split top and place it inside the skillet with black cooking surface.", + "Move the light brown loaf with smooth sides to the dark gray skillet using the right arm", + "Lift the hand-sized oval loaf and drop it into the dark gray skillet.", + "Transfer the brown loaf into the smooth non-stick skillet from the table", + "Put the light brown bread with ridges into the dark gray skillet after grabbing it", + "Use the right arm to move the smooth loaf with rounded edges and set it into the round skillet with open handle end.", + "Use the right arm to move the hand-sized oval loaf into the round skillet with open handle end", + "Place the bread with split top into the metal skillet with comfortable grip with the right arm.", + "Use the right arm to stick the small golden brown bread into the metal skillet with comfortable grip.", + "Take the small loaf with curved top and drop it into the medium-sized frying skillet.", + "Grab the small golden brown bread and place it inside the smooth non-stick skillet", + "Use the right arm to pick the bread with split top and place it into the dark gray skillet.", + "Use the right arm to grab the light brown bread with ridges and set it in the gray skillet for stovetop cooking.", + "Use the right arm to place the soft brown bread into the gray skillet for stovetop cooking", + "Use the right arm to lift the bread with split top and place it into the metal skillet.", + "Use the right arm to pick the brown loaf up for the smooth non-stick skillet", + "Pick the golden bread loaf and set it into the skillet for frying food.", + "Grab the brown loaf using the right arm and place it in the dark gray skillet", + "Take the bread with warm golden color and put it in the skillet for frying food.", + "Put the smooth loaf with rounded edges into the smooth non-stick skillet.", + "Grab the hand-sized oval loaf from the table and set it in the metal skillet.", + "Take the smooth loaf with rounded edges and set it into the smooth non-stick skillet", + "Use the right arm to pick the bread with golden-brown crust for the gray skillet for stovetop cooking", + "Take the small golden brown bread with the right arm and drop into the skillet with black cooking surface", + "Take the hand-sized oval loaf and put it in the black-surfaced skillet with gray sides.", + "Use the right arm to take the small loaf with curved top and move it into the flat-bottom skillet.", + "Move the small loaf with curved top into the round skillet with open handle end from the table", + "Pick up the golden bread loaf with the right arm and drop it in the medium-sized frying skillet", + "Use the right arm to grab the smooth loaf with rounded edges for the round skillet with handle", + "Use the right arm to set the small golden brown bread into the black-surfaced skillet with gray sides.", + "Pick the soft brown bread and transfer it to the skillet for frying food", + "Lift the golden bread loaf using the right arm and move it to the metal skillet with comfortable grip", + "Pick the hand-sized oval loaf off the table and place it in the smooth non-stick skillet.", + "Take the bread with warm golden color and place it inside the metal skillet with comfortable grip", + "Pick the small golden brown bread up using the right arm and drop it in the skillet for frying food.", + "Take the bread with golden-brown crust and place it inside the round skillet with handle", + "Move the soft brown bread from table into the round skillet with handle", + "Take the small golden brown bread off the table into the black-surfaced skillet with gray sides", + "Grab the smooth loaf with rounded edges with the right arm and place in the round skillet with open handle end", + "Use the right arm to grab the small golden brown bread for the skillet for frying food", + "Place the light brown bread with ridges from the table into the black-surfaced skillet with gray sides", + "Pick up the bread with split top and put it in the gray skillet for stovetop cooking", + "Set the bread with warm golden color into the black-surfaced skillet with gray sides after grabbing", + "Place the brown loaf into the metal skillet using the right arm", + "Pick up the bread with golden-brown crust and place it in the flat-bottom skillet.", + "Pick the light brown loaf with smooth sides with the right arm and set it in the black-surfaced skillet with gray sides", + "Use the right arm to pick the small golden brown bread and put it in the skillet with black cooking surface", + "Grab the bread with split top and drop it into the flat-bottom skillet", + "Lift the bread with golden-brown crust and drop it into the flat-bottom skillet", + "Grab the golden bread loaf and stick it in the smooth non-stick skillet.", + "Grab the small loaf with curved top and place it inside the round skillet with handle.", + "Move the soft brown bread to the flat-bottom skillet using the right arm", + "Lift the golden bread loaf and drop it into the metal skillet.", + "Transfer the bread with warm golden color into the dark gray skillet from the table", + "Put the bread with golden-brown crust into the metal skillet after grabbing it", + "Use the right arm to move the small loaf with curved top and set it into the gray skillet for stovetop cooking.", + "Use the right arm to move the bread with warm golden color into the round skillet with open handle end", + "Place the bread with split top into the flat-bottom skillet with the right arm.", + "Use the right arm to stick the hand-sized oval loaf into the black-surfaced skillet with gray sides.", + "Take the small loaf with curved top and drop it into the flat-bottom skillet.", + "Grab the bread with warm golden color and place it inside the skillet for frying food", + "Use the right arm to pick the brown loaf and place it into the gray skillet for stovetop cooking.", + "Use the right arm to grab the bread with warm golden color and set it in the skillet with black cooking surface.", + "Use the right arm to place the soft brown bread into the round skillet with handle", + "Use the right arm to lift the brown loaf and place it into the metal skillet with comfortable grip.", + "Use the right arm to pick the small golden brown bread up for the round skillet with handle", + "Pick the small loaf with curved top and set it into the medium-sized frying skillet.", + "Grab the bread with split top using the right arm and place it in the black-surfaced skillet with gray sides", + "Take the small golden brown bread and put it in the medium-sized frying skillet.", + "Put the bread with split top into the skillet with black cooking surface.", + "Grab the light brown bread with ridges from the table and set it in the skillet for frying food.", + "Take the small loaf with curved top and set it into the skillet with black cooking surface", + "Use the right arm to pick the bread with warm golden color for the metal skillet with comfortable grip", + "Take the bread with warm golden color with the right arm and drop into the round skillet with handle", + "Take the bread with split top and put it in the medium-sized frying skillet.", + "Use the right arm to take the smooth loaf with rounded edges and move it into the black-surfaced skillet with gray sides.", + "Move the hand-sized oval loaf into the gray skillet for stovetop cooking from the table", + "Pick up the smooth loaf with rounded edges with the right arm and drop it in the skillet with black cooking surface", + "Use the right arm to grab the bread with warm golden color for the skillet with black cooking surface", + "Use the right arm to set the light brown loaf with smooth sides into the skillet with black cooking surface.", + "Pick the light brown bread with ridges and transfer it to the metal skillet with comfortable grip", + "Lift the small golden brown bread using the right arm and move it to the medium-sized frying skillet", + "Pick the soft brown bread off the table and place it in the smooth non-stick skillet.", + "Take the bread with split top and place it inside the dark gray skillet", + "Pick the brown loaf up using the right arm and drop it in the black-surfaced skillet with gray sides.", + "Take the soft brown bread and place it inside the gray skillet for stovetop cooking", + "Move the light brown loaf with smooth sides from table into the black-surfaced skillet with gray sides", + "Take the smooth loaf with rounded edges off the table into the round skillet with handle", + "Grab the light brown loaf with smooth sides with the right arm and place in the gray skillet for stovetop cooking", + "Use the right arm to grab the bread with warm golden color for the round skillet with open handle end", + "Place the bread with split top from the table into the skillet with black cooking surface", + "Pick up the light brown bread with ridges and put it in the medium-sized frying skillet" + ], + "unseen": [ + "Move the oval bread to the dark skillet with shiny finish using the right arm.", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it in the dark skillet with shiny finish", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the dark skillet with shiny finish using the right arm.", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Pick up the rounded oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the dark skillet with shiny finish using the right arm.", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Pick up the rounded oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Use the right arm to grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the oval bread to the dark skillet with shiny finish.", + "Use the right arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Take the oval bread and put it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Use the right arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the right arm.", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the oval bread to the dark skillet with shiny finish.", + "Use the right arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Move the oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Take the oval-shaped soft bread and put it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the right arm.", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Use the right arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Use the right arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the dark skillet with shiny finish using the right arm.", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode27.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..de36c797157bdb59557660d5d505ee94990e292b --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to take the golden baked bread and move it into the dark gray skillet.", + "Lift the bread with rounded edges using the left arm and move it to the round skillet with open handle end", + "Pick the golden baked bread and transfer it to the round skillet with open handle end", + "Take the medium bread with rounded sides and set it into the smooth non-stick skillet", + "Lift the soft square bread and drop it into the round skillet with open handle end", + "Transfer the medium-sized bread piece into the dark gray skillet from the table", + "Lift the light brown porous bread and drop it into the flat-bottom skillet.", + "Take the sponge-textured golden bread with the left arm and drop into the round skillet with handle", + "Put the bread with rounded edges into the smooth non-stick skillet.", + "Grab the golden brown bread and drop it into the black-surfaced skillet with gray sides", + "Use the left arm to move the bread with rounded edges into the round skillet with open handle end", + "Place the fluffy baked bread into the smooth non-stick skillet with the left arm.", + "Put the rounded square loaf into the skillet for frying food after grabbing it", + "Pick the fluffy baked bread up using the left arm and drop it in the dark gray skillet.", + "Pick up the rounded square loaf with the left arm and drop it in the metal skillet with comfortable grip", + "Use the left arm to grab the rounded square loaf for the black-surfaced skillet with gray sides", + "Pick the bread with rounded edges off the table and place it in the medium-sized frying skillet.", + "Take the soft square bread off the table into the skillet for frying food", + "Use the left arm to place the sponge-textured golden bread into the smooth non-stick skillet", + "Use the left arm to grab the rounded square loaf for the skillet for frying food", + "Move the bread with soft texture from table into the metal skillet with comfortable grip", + "Take the medium-sized bread piece and place it inside the smooth non-stick skillet", + "Pick up the soft square bread and place it in the skillet for frying food.", + "Use the left arm to pick the rounded square loaf up for the skillet for frying food", + "Pick the medium-sized bread piece with the left arm and set it in the smooth non-stick skillet", + "Use the left arm to lift the medium bread with rounded sides and place it into the medium-sized frying skillet.", + "Pick the bread with soft texture and set it into the metal skillet with comfortable grip.", + "Take the rounded square loaf and place it inside the metal skillet with comfortable grip", + "Use the left arm to pick the medium-sized bread piece for the medium-sized frying skillet", + "Use the left arm to pick the sponge-textured golden bread and place it into the round skillet with open handle end.", + "Use the left arm to stick the square-shaped bread piece into the dark gray skillet.", + "Grab the sponge-textured golden bread and place it inside the medium-sized frying skillet", + "Use the left arm to set the rounded square loaf into the round skillet with open handle end.", + "Set the medium bread with rounded sides into the metal skillet after grabbing", + "Take the medium-sized bread piece and put it in the gray skillet for stovetop cooking.", + "Place the bread with soft texture into the smooth non-stick skillet using the left arm", + "Grab the soft square bread and stick it in the black-surfaced skillet with gray sides.", + "Use the left arm to move the sponge-textured golden bread and set it into the round skillet with handle.", + "Pick up the light brown porous bread and put it in the gray skillet for stovetop cooking", + "Place the light brown porous bread from the table into the metal skillet with comfortable grip", + "Grab the bread with soft texture using the left arm and place it in the metal skillet", + "Use the left arm to grab the bread with rounded edges and set it in the medium-sized frying skillet.", + "Grab the bread with soft texture from the table and set it in the metal skillet.", + "Take the medium-sized bread piece and put it in the skillet for frying food.", + "Move the square-shaped bread piece into the metal skillet with comfortable grip from the table", + "Take the sponge-textured golden bread and drop it into the flat-bottom skillet.", + "Grab the bread with rounded edges with the left arm and place in the skillet for frying food", + "Move the medium-sized bread piece to the gray skillet for stovetop cooking using the left arm", + "Use the left arm to pick the medium-sized bread piece and put it in the metal skillet", + "Grab the bread with rounded edges and place it inside the round skillet with handle.", + "Use the left arm to take the soft square bread and move it into the skillet for frying food.", + "Lift the medium bread with rounded sides using the left arm and move it to the round skillet with open handle end", + "Pick the rounded square loaf and transfer it to the metal skillet", + "Take the bread with soft texture and set it into the skillet for frying food", + "Lift the soft square bread and drop it into the metal skillet with comfortable grip", + "Transfer the golden brown bread into the gray skillet for stovetop cooking from the table", + "Lift the medium bread with rounded sides and drop it into the black-surfaced skillet with gray sides.", + "Take the fluffy baked bread with the left arm and drop into the round skillet with open handle end", + "Put the medium-sized bread piece into the black-surfaced skillet with gray sides.", + "Grab the fluffy baked bread and drop it into the metal skillet with comfortable grip", + "Use the left arm to move the soft square bread into the skillet for frying food", + "Place the bread with soft texture into the metal skillet with the left arm.", + "Put the medium bread with rounded sides into the skillet with black cooking surface after grabbing it", + "Pick the fluffy baked bread up using the left arm and drop it in the round skillet with open handle end.", + "Pick up the bread with rounded edges with the left arm and drop it in the flat-bottom skillet", + "Use the left arm to grab the bread with rounded edges for the smooth non-stick skillet", + "Pick the bread with rounded edges off the table and place it in the skillet with black cooking surface.", + "Take the golden baked bread off the table into the metal skillet", + "Use the left arm to place the medium bread with rounded sides into the medium-sized frying skillet", + "Use the left arm to grab the medium bread with rounded sides for the metal skillet", + "Move the bread with soft texture from table into the skillet for frying food", + "Take the light brown porous bread and place it inside the round skillet with handle", + "Pick up the bread with rounded edges and place it in the black-surfaced skillet with gray sides.", + "Use the left arm to pick the medium bread with rounded sides up for the metal skillet with comfortable grip", + "Pick the soft square bread with the left arm and set it in the skillet with black cooking surface", + "Use the left arm to lift the sponge-textured golden bread and place it into the dark gray skillet.", + "Pick the fluffy baked bread and set it into the round skillet with handle.", + "Take the rounded square loaf and place it inside the dark gray skillet", + "Use the left arm to pick the bread with soft texture for the smooth non-stick skillet", + "Use the left arm to pick the soft square bread and place it into the round skillet with handle.", + "Use the left arm to stick the fluffy baked bread into the dark gray skillet.", + "Grab the medium-sized bread piece and place it inside the skillet with black cooking surface", + "Use the left arm to set the medium-sized bread piece into the round skillet with open handle end.", + "Set the medium bread with rounded sides into the round skillet with handle after grabbing", + "Take the rounded square loaf and put it in the metal skillet.", + "Place the bread with rounded edges into the skillet with black cooking surface using the left arm", + "Grab the light brown porous bread and stick it in the skillet for frying food.", + "Use the left arm to move the golden brown bread and set it into the gray skillet for stovetop cooking.", + "Pick up the soft square bread and put it in the skillet for frying food", + "Place the square-shaped bread piece from the table into the metal skillet with comfortable grip", + "Grab the medium bread with rounded sides using the left arm and place it in the round skillet with handle", + "Use the left arm to grab the square-shaped bread piece and set it in the gray skillet for stovetop cooking.", + "Grab the medium-sized bread piece from the table and set it in the metal skillet.", + "Take the medium-sized bread piece and put it in the round skillet with open handle end.", + "Move the fluffy baked bread into the black-surfaced skillet with gray sides from the table", + "Take the medium-sized bread piece and drop it into the metal skillet with comfortable grip.", + "Grab the rounded square loaf with the left arm and place in the smooth non-stick skillet", + "Move the soft square bread to the round skillet with open handle end using the left arm", + "Use the left arm to pick the bread with rounded edges and put it in the medium-sized frying skillet", + "Grab the bread with soft texture and place it inside the metal skillet." + ], + "unseen": [ + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Pick the square bread with light spots up and place it in the dark skillet with shiny finish", + "Use the left arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Move the square bread with light spots to the dark skillet with shiny finish using the left arm.", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the versatile skillet for frying and sauteing.", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Use the left arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the left arm.", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Use the left arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the left arm.", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the left arm.", + "Take the spongy golden brown bread and put it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the versatile skillet for frying and sauteing.", + "Pick the soft bread with golden edges up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Move the soft bread with golden edges to the versatile skillet for frying and sauteing using the left arm.", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Use the left arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the left arm.", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the versatile skillet for frying and sauteing.", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Use the left arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the left arm.", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Move the soft bread with golden edges to the versatile skillet for frying and sauteing using the left arm.", + "Take the spongy golden brown bread and put it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Pick up the square bread with light spots and drop it into the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the square bread with light spots up and place it in the dark skillet with shiny finish", + "Use the left arm to move the soft bread with golden edges to the dark skillet with shiny finish.", + "Grab the square bread with light spots and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the dark skillet with shiny finish using the left arm.", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the versatile skillet for frying and sauteing using the left arm.", + "Take the spongy golden brown bread and put it in the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode28.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..9da78e07310a5d0ff7079de02f772b891b412b69 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the light brown bread with ridges from table into the gray skillet for stovetop cooking", + "Grab the small golden brown bread and drop it into the medium-sized frying skillet", + "Use the left arm to place the bread with split top into the metal skillet", + "Pick up the smooth loaf with rounded edges and put it in the round skillet with open handle end", + "Take the brown loaf with the left arm and drop into the skillet with black cooking surface", + "Take the light brown loaf with smooth sides and place it inside the dark gray skillet", + "Lift the bread with warm golden color using the left arm and move it to the skillet with black cooking surface", + "Use the left arm to take the bread with warm golden color and move it into the dark gray skillet.", + "Grab the small golden brown bread and place it inside the smooth non-stick skillet.", + "Pick the light brown bread with ridges off the table and place it in the skillet for frying food.", + "Set the light brown bread with ridges into the metal skillet after grabbing", + "Grab the light brown loaf with smooth sides and stick it in the metal skillet.", + "Move the brown loaf into the metal skillet with comfortable grip from the table", + "Use the left arm to pick the bread with split top and put it in the metal skillet", + "Transfer the soft brown bread into the smooth non-stick skillet from the table", + "Use the left arm to set the smooth loaf with rounded edges into the metal skillet.", + "Use the left arm to grab the bread with split top for the round skillet with handle", + "Take the small loaf with curved top off the table into the metal skillet with comfortable grip", + "Put the bread with warm golden color into the round skillet with open handle end after grabbing it", + "Pick the small golden brown bread and transfer it to the metal skillet", + "Grab the bread with golden-brown crust using the left arm and place it in the flat-bottom skillet", + "Use the left arm to grab the golden bread loaf and set it in the flat-bottom skillet.", + "Pick up the small golden brown bread and place it in the smooth non-stick skillet.", + "Use the left arm to grab the golden bread loaf for the skillet with black cooking surface", + "Use the left arm to lift the smooth loaf with rounded edges and place it into the flat-bottom skillet.", + "Place the bread with warm golden color into the skillet for frying food with the left arm.", + "Use the left arm to move the light brown loaf with smooth sides into the metal skillet with comfortable grip", + "Use the left arm to pick the brown loaf up for the metal skillet with comfortable grip", + "Grab the small golden brown bread and place it inside the smooth non-stick skillet", + "Lift the bread with golden-brown crust and drop it into the dark gray skillet.", + "Take the brown loaf and drop it into the metal skillet.", + "Place the bread with golden-brown crust into the metal skillet using the left arm", + "Take the bread with golden-brown crust and put it in the smooth non-stick skillet.", + "Take the light brown loaf with smooth sides and set it into the metal skillet", + "Take the light brown bread with ridges and put it in the smooth non-stick skillet.", + "Pick the smooth loaf with rounded edges with the left arm and set it in the metal skillet", + "Place the golden bread loaf from the table into the metal skillet", + "Grab the bread with split top from the table and set it in the round skillet with handle.", + "Take the golden bread loaf and place it inside the black-surfaced skillet with gray sides", + "Lift the light brown loaf with smooth sides and drop it into the metal skillet with comfortable grip", + "Put the light brown loaf with smooth sides into the metal skillet.", + "Pick the small golden brown bread and set it into the gray skillet for stovetop cooking.", + "Pick the bread with split top up using the left arm and drop it in the skillet for frying food.", + "Grab the light brown loaf with smooth sides with the left arm and place in the smooth non-stick skillet", + "Use the left arm to stick the hand-sized oval loaf into the skillet with black cooking surface.", + "Use the left arm to pick the bread with warm golden color for the skillet with black cooking surface", + "Pick up the smooth loaf with rounded edges with the left arm and drop it in the flat-bottom skillet", + "Move the small golden brown bread to the gray skillet for stovetop cooking using the left arm", + "Use the left arm to move the bread with golden-brown crust and set it into the metal skillet.", + "Use the left arm to pick the light brown bread with ridges and place it into the dark gray skillet.", + "Move the light brown loaf with smooth sides from table into the smooth non-stick skillet", + "Grab the golden bread loaf and drop it into the skillet for frying food", + "Use the left arm to place the bread with golden-brown crust into the smooth non-stick skillet", + "Pick up the bread with split top and put it in the flat-bottom skillet", + "Take the brown loaf with the left arm and drop into the dark gray skillet", + "Take the bread with split top and place it inside the round skillet with open handle end", + "Lift the bread with golden-brown crust using the left arm and move it to the skillet for frying food", + "Use the left arm to take the light brown loaf with smooth sides and move it into the smooth non-stick skillet.", + "Grab the small loaf with curved top and place it inside the flat-bottom skillet.", + "Pick the light brown loaf with smooth sides off the table and place it in the round skillet with open handle end.", + "Set the soft brown bread into the flat-bottom skillet after grabbing", + "Grab the small golden brown bread and stick it in the skillet for frying food.", + "Move the bread with golden-brown crust into the gray skillet for stovetop cooking from the table", + "Use the left arm to pick the hand-sized oval loaf and put it in the medium-sized frying skillet", + "Transfer the golden bread loaf into the gray skillet for stovetop cooking from the table", + "Use the left arm to set the bread with golden-brown crust into the medium-sized frying skillet.", + "Use the left arm to grab the bread with golden-brown crust for the round skillet with handle", + "Take the hand-sized oval loaf off the table into the gray skillet for stovetop cooking", + "Put the small golden brown bread into the metal skillet after grabbing it", + "Pick the light brown bread with ridges and transfer it to the smooth non-stick skillet", + "Grab the smooth loaf with rounded edges using the left arm and place it in the dark gray skillet", + "Use the left arm to grab the bread with golden-brown crust and set it in the round skillet with open handle end.", + "Pick up the golden bread loaf and place it in the metal skillet.", + "Use the left arm to grab the brown loaf for the flat-bottom skillet", + "Use the left arm to lift the light brown loaf with smooth sides and place it into the round skillet with handle.", + "Place the soft brown bread into the metal skillet with comfortable grip with the left arm.", + "Use the left arm to move the light brown loaf with smooth sides into the black-surfaced skillet with gray sides", + "Use the left arm to pick the small loaf with curved top up for the metal skillet with comfortable grip", + "Grab the bread with split top and place it inside the dark gray skillet", + "Lift the soft brown bread and drop it into the gray skillet for stovetop cooking.", + "Take the light brown bread with ridges and drop it into the round skillet with handle.", + "Place the bread with warm golden color into the round skillet with open handle end using the left arm", + "Take the bread with split top and put it in the dark gray skillet.", + "Take the bread with warm golden color and set it into the medium-sized frying skillet", + "Take the soft brown bread and put it in the metal skillet with comfortable grip.", + "Pick the brown loaf with the left arm and set it in the metal skillet with comfortable grip", + "Place the bread with split top from the table into the smooth non-stick skillet", + "Grab the bread with golden-brown crust from the table and set it in the round skillet with open handle end.", + "Take the light brown bread with ridges and place it inside the skillet with black cooking surface", + "Lift the bread with golden-brown crust and drop it into the round skillet with handle", + "Put the light brown bread with ridges into the flat-bottom skillet.", + "Pick the soft brown bread and set it into the round skillet with handle.", + "Pick the small loaf with curved top up using the left arm and drop it in the skillet for frying food.", + "Grab the bread with warm golden color with the left arm and place in the metal skillet with comfortable grip", + "Use the left arm to stick the hand-sized oval loaf into the skillet for frying food.", + "Use the left arm to pick the hand-sized oval loaf for the metal skillet with comfortable grip", + "Pick up the small golden brown bread with the left arm and drop it in the flat-bottom skillet", + "Move the golden bread loaf to the smooth non-stick skillet using the left arm", + "Use the left arm to move the bread with split top and set it into the skillet with black cooking surface.", + "Use the left arm to pick the light brown bread with ridges and place it into the skillet for frying food." + ], + "unseen": [ + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Use the left arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Take the oval-shaped soft bread and put it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Move the rounded oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Use the left arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Pick up the rounded oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Use the left arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing", + "Use the left arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Use the left arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Move the oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Use the left arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Use the left arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the left arm.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Move the oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the dark skillet with shiny finish." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode29.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..4cd06426fa14c77a37beeb63df79bcf53a7d7133 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bread with rough texture and place it inside the smooth non-stick skillet", + "Move the cuboid bread to the metal skillet with comfortable grip using the left arm", + "Take the doughy and soft bread and place it inside the round skillet with open handle end", + "Take the bread loaf with uneven edges and put it in the medium-sized frying skillet.", + "Use the left arm to lift the bread loaf with bumpy surface and place it into the black-surfaced skillet with gray sides.", + "Take the bread block with light patches and put it in the metal skillet.", + "Use the left arm to pick the soft bread for the medium-sized frying skillet", + "Use the left arm to grab the bread loaf with uneven edges and set it in the black-surfaced skillet with gray sides.", + "Take the bread block with light patches and drop it into the flat-bottom skillet.", + "Take the cuboid bread off the table into the metal skillet", + "Use the left arm to pick the bread with rough texture and put it in the round skillet with handle", + "Put the square-shaped bread into the medium-sized frying skillet.", + "Grab the golden bread loaf using the left arm and place it in the round skillet with handle", + "Use the left arm to pick the doughy and soft bread up for the flat-bottom skillet", + "Grab the golden bread loaf and drop it into the round skillet with open handle end", + "Place the bread with rough texture from the table into the dark gray skillet", + "Grab the bread loaf with bumpy surface and stick it in the dark gray skillet.", + "Place the bread with rough texture into the smooth non-stick skillet with the left arm.", + "Take the bread with rough texture with the left arm and drop into the gray skillet for stovetop cooking", + "Grab the cuboid bread from the table and set it in the smooth non-stick skillet.", + "Move the doughy and soft bread into the skillet with black cooking surface from the table", + "Use the left arm to move the golden bread loaf and set it into the round skillet with handle.", + "Move the bread loaf with uneven edges from table into the gray skillet for stovetop cooking", + "Lift the bread loaf with uneven edges and drop it into the flat-bottom skillet", + "Lift the bread block with light patches and drop it into the metal skillet with comfortable grip.", + "Use the left arm to grab the soft bread for the smooth non-stick skillet", + "Pick the bread with rough texture with the left arm and set it in the round skillet with handle", + "Use the left arm to take the square-shaped bread and move it into the metal skillet.", + "Set the cuboid bread into the medium-sized frying skillet after grabbing", + "Take the square-shaped bread and set it into the black-surfaced skillet with gray sides", + "Pick the soft bread up using the left arm and drop it in the metal skillet.", + "Use the left arm to place the golden bread loaf into the medium-sized frying skillet", + "Use the left arm to move the soft bread into the round skillet with handle", + "Pick the bread with rough texture and transfer it to the flat-bottom skillet", + "Use the left arm to grab the bread with rough texture for the dark gray skillet", + "Use the left arm to pick the hand-sized bread block and place it into the smooth non-stick skillet.", + "Pick the golden bread loaf off the table and place it in the medium-sized frying skillet.", + "Take the bread loaf with uneven edges and place it inside the skillet for frying food", + "Transfer the bread block with light patches into the skillet for frying food from the table", + "Pick up the golden bread and put it in the skillet with black cooking surface", + "Pick up the bread block with light patches with the left arm and drop it in the skillet with black cooking surface", + "Use the left arm to stick the bread with rough texture into the black-surfaced skillet with gray sides.", + "Grab the bread loaf with bumpy surface with the left arm and place in the gray skillet for stovetop cooking", + "Pick up the bread loaf with uneven edges and place it in the medium-sized frying skillet.", + "Place the hand-sized bread block into the metal skillet using the left arm", + "Grab the golden bread and place it inside the round skillet with handle.", + "Pick the doughy and soft bread and set it into the gray skillet for stovetop cooking.", + "Put the bread with rough texture into the round skillet with open handle end after grabbing it", + "Use the left arm to set the golden bread loaf into the round skillet with handle.", + "Lift the bread with rough texture using the left arm and move it to the metal skillet with comfortable grip", + "Grab the bread loaf with uneven edges and place it inside the skillet for frying food", + "Move the soft bread to the skillet for frying food using the left arm", + "Take the hand-sized bread block and place it inside the round skillet with open handle end", + "Take the hand-sized bread block and put it in the gray skillet for stovetop cooking.", + "Use the left arm to lift the soft bread and place it into the round skillet with open handle end.", + "Take the bread block with light patches and put it in the medium-sized frying skillet.", + "Use the left arm to pick the bread block with light patches for the metal skillet with comfortable grip", + "Use the left arm to grab the golden bread loaf and set it in the dark gray skillet.", + "Take the bread with rough texture and drop it into the metal skillet.", + "Take the light golden brown bread off the table into the round skillet with handle", + "Use the left arm to pick the square-shaped bread and put it in the smooth non-stick skillet", + "Put the golden bread loaf into the metal skillet with comfortable grip.", + "Grab the bread loaf with bumpy surface using the left arm and place it in the black-surfaced skillet with gray sides", + "Use the left arm to pick the hand-sized bread block up for the metal skillet with comfortable grip", + "Grab the golden bread and drop it into the flat-bottom skillet", + "Place the soft bread from the table into the smooth non-stick skillet", + "Grab the light golden brown bread and stick it in the medium-sized frying skillet.", + "Place the soft bread into the flat-bottom skillet with the left arm.", + "Take the cuboid bread with the left arm and drop into the flat-bottom skillet", + "Grab the soft bread from the table and set it in the medium-sized frying skillet.", + "Move the golden bread loaf into the black-surfaced skillet with gray sides from the table", + "Use the left arm to move the bread block with light patches and set it into the smooth non-stick skillet.", + "Move the light golden brown bread from table into the round skillet with open handle end", + "Lift the cuboid bread and drop it into the smooth non-stick skillet", + "Lift the bread block with light patches and drop it into the medium-sized frying skillet.", + "Use the left arm to grab the hand-sized bread block for the black-surfaced skillet with gray sides", + "Pick the bread with rough texture with the left arm and set it in the skillet with black cooking surface", + "Use the left arm to take the bread block with light patches and move it into the dark gray skillet.", + "Set the golden bread loaf into the gray skillet for stovetop cooking after grabbing", + "Take the cuboid bread and set it into the round skillet with open handle end", + "Pick the square-shaped bread up using the left arm and drop it in the dark gray skillet.", + "Use the left arm to place the cuboid bread into the dark gray skillet", + "Use the left arm to move the bread loaf with uneven edges into the medium-sized frying skillet", + "Pick the light golden brown bread and transfer it to the metal skillet with comfortable grip", + "Use the left arm to grab the golden bread for the round skillet with handle", + "Use the left arm to pick the hand-sized bread block and place it into the metal skillet with comfortable grip.", + "Pick the golden bread loaf off the table and place it in the skillet with black cooking surface.", + "Take the cuboid bread and place it inside the metal skillet", + "Transfer the bread block with light patches into the metal skillet with comfortable grip from the table", + "Pick up the cuboid bread and put it in the skillet for frying food", + "Pick up the light golden brown bread with the left arm and drop it in the metal skillet with comfortable grip", + "Use the left arm to stick the bread block with light patches into the dark gray skillet.", + "Grab the bread loaf with bumpy surface with the left arm and place in the black-surfaced skillet with gray sides", + "Pick up the hand-sized bread block and place it in the dark gray skillet.", + "Place the light golden brown bread into the metal skillet with comfortable grip using the left arm", + "Grab the square-shaped bread and place it inside the gray skillet for stovetop cooking.", + "Pick the golden bread loaf and set it into the skillet with black cooking surface.", + "Put the doughy and soft bread into the metal skillet with comfortable grip after grabbing it", + "Use the left arm to set the bread block with light patches into the medium-sized frying skillet.", + "Lift the soft bread using the left arm and move it to the skillet for frying food" + ], + "unseen": [ + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Use the left arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Move the bread with golden crust to the dark skillet with shiny finish using the left arm.", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Move the bread with golden crust to the dark skillet with shiny finish using the left arm.", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the left arm.", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the left arm.", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the left arm.", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Use the left arm to move the bread with golden crust to the pan-shaped skillet with hole in handle." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode3.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..a0d6e6b0373b6be37b22f76343b5104388e7c2da --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the soft doughy bread and drop it into the smooth non-stick skillet", + "Use the right arm to move the round bread with crusty texture into the gray skillet for stovetop cooking", + "Put the small golden baked bread into the flat-bottom skillet after grabbing it", + "Take the soft golden bread and set it into the black-surfaced skillet with gray sides", + "Take the small bread off the table into the skillet with black cooking surface", + "Pick the golden brown bread off the table and place it in the metal skillet with comfortable grip.", + "Use the right arm to pick the soft golden bread and place it into the flat-bottom skillet.", + "Take the braided bread loaf and put it in the flat-bottom skillet.", + "Lift the soft doughy bread using the right arm and move it to the round skillet with open handle end", + "Pick the golden bread loaf with soft inside and transfer it to the metal skillet", + "Take the golden brown bread with braided design with the right arm and drop into the medium-sized frying skillet", + "Use the right arm to grab the golden brown bread for the metal skillet with comfortable grip", + "Move the smooth crusty small bread from table into the round skillet with open handle end", + "Use the right arm to take the golden brown bread with braided design and move it into the round skillet with open handle end.", + "Use the right arm to stick the small bread into the smooth non-stick skillet.", + "Place the golden brown bread into the gray skillet for stovetop cooking using the right arm", + "Put the small golden baked bread into the black-surfaced skillet with gray sides.", + "Grab the bread with golden crust from the table and set it in the flat-bottom skillet.", + "Grab the golden brown bread and place it inside the skillet with black cooking surface", + "Move the small bread to the round skillet with open handle end using the right arm", + "Place the golden brown bread with braided design from the table into the round skillet with open handle end", + "Pick the soft golden bread with the right arm and set it in the skillet for frying food", + "Grab the soft doughy bread and stick it in the flat-bottom skillet.", + "Use the right arm to set the braided bread loaf into the black-surfaced skillet with gray sides.", + "Use the right arm to pick the braided bread loaf up for the smooth non-stick skillet", + "Use the right arm to grab the bread with golden crust for the medium-sized frying skillet", + "Set the small golden baked bread into the dark gray skillet after grabbing", + "Pick up the small bread and place it in the dark gray skillet.", + "Pick up the golden bread loaf with soft inside and put it in the skillet for frying food", + "Use the right arm to move the golden brown bread and set it into the medium-sized frying skillet.", + "Grab the golden brown bread and place it inside the skillet for frying food.", + "Lift the round bread with crusty texture and drop it into the medium-sized frying skillet.", + "Take the round bread with braided top and place it inside the round skillet with open handle end", + "Grab the soft doughy bread and drop it into the gray skillet for stovetop cooking", + "Pick up the soft golden bread with the right arm and drop it in the medium-sized frying skillet", + "Grab the soft doughy bread with the right arm and place in the skillet with black cooking surface", + "Use the right arm to grab the soft golden bread and set it in the medium-sized frying skillet.", + "Place the golden brown bread into the smooth non-stick skillet with the right arm.", + "Use the right arm to place the soft golden bread into the dark gray skillet", + "Take the golden brown bread and put it in the gray skillet for stovetop cooking.", + "Take the soft doughy bread and place it inside the smooth non-stick skillet", + "Use the right arm to pick the golden bread loaf with soft inside and put it in the smooth non-stick skillet", + "Move the round bread with braided top into the skillet for frying food from the table", + "Grab the smooth crusty small bread using the right arm and place it in the metal skillet with comfortable grip", + "Use the right arm to pick the soft golden bread for the dark gray skillet", + "Pick the golden brown bread with braided design up using the right arm and drop it in the skillet with black cooking surface.", + "Use the right arm to lift the braided bread loaf and place it into the flat-bottom skillet.", + "Pick the round bread with crusty texture and set it into the skillet with black cooking surface.", + "Take the golden brown bread with braided design and drop it into the skillet with black cooking surface.", + "Transfer the smooth crusty small bread into the gray skillet for stovetop cooking from the table", + "Lift the golden bread loaf with soft inside and drop it into the round skillet with handle", + "Use the right arm to move the round bread with braided top into the metal skillet with comfortable grip", + "Put the golden brown bread with braided design into the metal skillet with comfortable grip after grabbing it", + "Take the soft doughy bread and set it into the medium-sized frying skillet", + "Take the golden bread loaf with soft inside off the table into the skillet with black cooking surface", + "Pick the round bread with braided top off the table and place it in the medium-sized frying skillet.", + "Use the right arm to pick the bread with golden crust and place it into the black-surfaced skillet with gray sides.", + "Take the soft golden bread and put it in the metal skillet.", + "Lift the soft golden bread using the right arm and move it to the smooth non-stick skillet", + "Pick the bread with golden crust and transfer it to the round skillet with open handle end", + "Take the braided bread loaf with the right arm and drop into the skillet with black cooking surface", + "Use the right arm to grab the golden brown bread for the metal skillet with comfortable grip", + "Move the golden brown bread from table into the medium-sized frying skillet", + "Use the right arm to take the round bread with braided top and move it into the metal skillet with comfortable grip.", + "Use the right arm to stick the smooth crusty small bread into the dark gray skillet.", + "Place the golden brown bread with braided design into the black-surfaced skillet with gray sides using the right arm", + "Put the soft golden bread into the smooth non-stick skillet.", + "Grab the soft doughy bread from the table and set it in the metal skillet.", + "Grab the smooth crusty small bread and place it inside the gray skillet for stovetop cooking", + "Move the round bread with crusty texture to the skillet for frying food using the right arm", + "Place the soft golden bread from the table into the round skillet with handle", + "Pick the small golden baked bread with the right arm and set it in the gray skillet for stovetop cooking", + "Grab the small golden baked bread and stick it in the round skillet with open handle end.", + "Use the right arm to set the golden bread loaf with soft inside into the gray skillet for stovetop cooking.", + "Use the right arm to pick the braided bread loaf up for the medium-sized frying skillet", + "Use the right arm to grab the golden bread loaf with soft inside for the black-surfaced skillet with gray sides", + "Set the golden brown bread into the metal skillet after grabbing", + "Pick up the golden brown bread with braided design and place it in the black-surfaced skillet with gray sides.", + "Pick up the bread with golden crust and put it in the flat-bottom skillet", + "Use the right arm to move the soft doughy bread and set it into the round skillet with open handle end.", + "Grab the golden brown bread and place it inside the metal skillet.", + "Lift the small golden baked bread and drop it into the medium-sized frying skillet.", + "Take the smooth crusty small bread and place it inside the metal skillet with comfortable grip", + "Grab the golden brown bread and drop it into the dark gray skillet", + "Pick up the soft doughy bread with the right arm and drop it in the dark gray skillet", + "Grab the golden brown bread with the right arm and place in the skillet for frying food", + "Use the right arm to grab the braided bread loaf and set it in the round skillet with open handle end.", + "Place the round bread with crusty texture into the skillet for frying food with the right arm.", + "Use the right arm to place the braided bread loaf into the round skillet with handle", + "Take the soft doughy bread and put it in the skillet for frying food.", + "Take the round bread with crusty texture and place it inside the smooth non-stick skillet", + "Use the right arm to pick the soft doughy bread and put it in the gray skillet for stovetop cooking", + "Move the smooth crusty small bread into the skillet for frying food from the table", + "Grab the smooth crusty small bread using the right arm and place it in the dark gray skillet", + "Use the right arm to pick the small golden baked bread for the black-surfaced skillet with gray sides", + "Pick the smooth crusty small bread up using the right arm and drop it in the gray skillet for stovetop cooking.", + "Use the right arm to lift the small bread and place it into the metal skillet with comfortable grip.", + "Pick the round bread with crusty texture and set it into the black-surfaced skillet with gray sides.", + "Take the smooth crusty small bread and drop it into the round skillet with handle.", + "Transfer the small bread into the black-surfaced skillet with gray sides from the table" + ], + "unseen": [ + "Pick up the braided top round bread and drop it into the dark skillet with shiny finish", + "Grab the round braided loaf and place it into the dark skillet with shiny finish.", + "Grab the palm-sized braided golden bread and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the round braided loaf and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the round braided loaf to the dark skillet with shiny finish.", + "Take the braided top round bread and put it in the versatile skillet for frying and sauteing", + "Grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Move the palm-sized braided golden bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the round braided loaf and drop it into the dark skillet with shiny finish.", + "Pick the round braided loaf up and place it in the versatile skillet for frying and sauteing", + "Pick up the round braided loaf and drop it into the dark skillet with shiny finish", + "Grab the round braided loaf and place it into the pan-shaped skillet with hole in handle.", + "Grab the palm-sized braided golden bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the palm-sized braided golden bread and set it in the dark skillet with shiny finish", + "Use the right arm to move the palm-sized braided golden bread to the dark skillet with shiny finish.", + "Take the braided top round bread and put it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and set it in the dark skillet with shiny finish", + "Move the round braided loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the palm-sized braided golden bread up and place it in the versatile skillet for frying and sauteing", + "Pick up the round braided loaf and drop it into the dark skillet with shiny finish", + "Grab the round braided loaf and place it into the dark skillet with shiny finish.", + "Grab the palm-sized braided golden bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the round braided loaf and set it in the dark skillet with shiny finish", + "Use the right arm to move the braided top round bread to the dark skillet with shiny finish.", + "Take the round braided loaf and put it in the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and set it in the versatile skillet for frying and sauteing", + "Move the palm-sized braided golden bread to the dark skillet with shiny finish using the right arm.", + "Grab the round braided loaf and drop it into the pan-shaped skillet with hole in handle.", + "Pick the palm-sized braided golden bread up and place it in the versatile skillet for frying and sauteing", + "Pick up the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it into the dark skillet with shiny finish.", + "Grab the braided top round bread and place it in the dark skillet with shiny finish", + "Use the right arm to grab the palm-sized braided golden bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the braided top round bread to the dark skillet with shiny finish.", + "Take the round braided loaf and put it in the versatile skillet for frying and sauteing", + "Grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Move the round braided loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the braided top round bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the palm-sized braided golden bread up and place it in the pan-shaped skillet with hole in handle", + "Pick up the round braided loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it into the versatile skillet for frying and sauteing.", + "Grab the braided top round bread and place it in the dark skillet with shiny finish", + "Use the right arm to grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the round braided loaf to the dark skillet with shiny finish.", + "Take the braided top round bread and put it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and set it in the versatile skillet for frying and sauteing", + "Move the braided top round bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the round braided loaf and drop it into the pan-shaped skillet with hole in handle.", + "Pick the palm-sized braided golden bread up and place it in the pan-shaped skillet with hole in handle", + "Pick up the round braided loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the braided top round bread and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the round braided loaf to the versatile skillet for frying and sauteing.", + "Take the palm-sized braided golden bread and put it in the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Move the round braided loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the palm-sized braided golden bread and drop it into the dark skillet with shiny finish.", + "Pick the palm-sized braided golden bread up and place it in the dark skillet with shiny finish", + "Pick up the round braided loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and place it into the dark skillet with shiny finish.", + "Grab the round braided loaf and place it in the dark skillet with shiny finish", + "Use the right arm to grab the round braided loaf and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the round braided loaf to the dark skillet with shiny finish.", + "Take the braided top round bread and put it in the dark skillet with shiny finish", + "Grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Move the braided top round bread to the dark skillet with shiny finish using the right arm.", + "Grab the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the round braided loaf up and place it in the pan-shaped skillet with hole in handle", + "Pick up the round braided loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the braided top round bread and place it in the dark skillet with shiny finish", + "Use the right arm to grab the palm-sized braided golden bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the braided top round bread to the versatile skillet for frying and sauteing.", + "Take the round braided loaf and put it in the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Move the braided top round bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the round braided loaf and drop it into the pan-shaped skillet with hole in handle.", + "Pick the braided top round bread up and place it in the versatile skillet for frying and sauteing", + "Pick up the palm-sized braided golden bread and drop it into the dark skillet with shiny finish", + "Grab the braided top round bread and place it into the dark skillet with shiny finish.", + "Grab the braided top round bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the braided top round bread and set it in the dark skillet with shiny finish", + "Use the right arm to move the braided top round bread to the pan-shaped skillet with hole in handle.", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Move the round braided loaf to the dark skillet with shiny finish using the right arm.", + "Grab the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the braided top round bread up and place it in the dark skillet with shiny finish", + "Pick up the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and place it into the versatile skillet for frying and sauteing.", + "Grab the round braided loaf and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the round braided loaf and set it in the dark skillet with shiny finish", + "Use the right arm to move the palm-sized braided golden bread to the dark skillet with shiny finish.", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Move the braided top round bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the palm-sized braided golden bread and drop it into the dark skillet with shiny finish.", + "Pick the palm-sized braided golden bread up and place it in the dark skillet with shiny finish" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode30.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..9c5e607e03217be96edd1b79be7816e07ff5ae87 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the medium-sized bread piece and place it in the metal skillet with comfortable grip.", + "Pick the light brown porous bread and transfer it to the skillet with black cooking surface", + "Put the square-shaped bread piece into the flat-bottom skillet.", + "Pick up the bread with soft texture with the right arm and drop it in the dark gray skillet", + "Place the golden brown bread into the skillet for frying food using the right arm", + "Use the right arm to lift the fluffy baked bread and place it into the gray skillet for stovetop cooking.", + "Take the medium bread with rounded sides off the table into the smooth non-stick skillet", + "Grab the golden baked bread with the right arm and place in the round skillet with handle", + "Take the soft square bread and drop it into the smooth non-stick skillet.", + "Grab the bread with rounded edges and place it inside the dark gray skillet", + "Use the right arm to pick the golden brown bread up for the dark gray skillet", + "Move the sponge-textured golden bread to the metal skillet using the right arm", + "Place the fluffy baked bread into the dark gray skillet with the right arm.", + "Grab the medium bread with rounded sides and stick it in the gray skillet for stovetop cooking.", + "Transfer the soft square bread into the round skillet with open handle end from the table", + "Use the right arm to stick the medium-sized bread piece into the medium-sized frying skillet.", + "Use the right arm to grab the square-shaped bread piece for the skillet with black cooking surface", + "Pick up the golden baked bread and put it in the gray skillet for stovetop cooking", + "Use the right arm to set the rounded square loaf into the metal skillet.", + "Pick the sponge-textured golden bread off the table and place it in the flat-bottom skillet.", + "Use the right arm to grab the golden brown bread for the medium-sized frying skillet", + "Use the right arm to grab the golden brown bread and set it in the skillet for frying food.", + "Lift the light brown porous bread and drop it into the round skillet with open handle end", + "Use the right arm to take the sponge-textured golden bread and move it into the medium-sized frying skillet.", + "Take the golden brown bread and set it into the gray skillet for stovetop cooking", + "Set the soft square bread into the gray skillet for stovetop cooking after grabbing", + "Take the soft square bread with the right arm and drop into the metal skillet", + "Lift the medium bread with rounded sides using the right arm and move it to the round skillet with handle", + "Use the right arm to move the golden baked bread into the dark gray skillet", + "Pick the sponge-textured golden bread and set it into the skillet with black cooking surface.", + "Grab the golden baked bread using the right arm and place it in the gray skillet for stovetop cooking", + "Take the fluffy baked bread and place it inside the skillet for frying food", + "Pick the bread with soft texture with the right arm and set it in the round skillet with handle", + "Move the medium bread with rounded sides from table into the skillet for frying food", + "Use the right arm to pick the medium-sized bread piece and place it into the gray skillet for stovetop cooking.", + "Use the right arm to pick the medium bread with rounded sides for the black-surfaced skillet with gray sides", + "Take the golden baked bread and put it in the round skillet with open handle end.", + "Lift the golden baked bread and drop it into the dark gray skillet.", + "Put the bread with rounded edges into the round skillet with open handle end after grabbing it", + "Take the golden brown bread and place it inside the black-surfaced skillet with gray sides", + "Grab the medium bread with rounded sides and drop it into the black-surfaced skillet with gray sides", + "Use the right arm to move the light brown porous bread and set it into the dark gray skillet.", + "Grab the square-shaped bread piece and place it inside the metal skillet with comfortable grip.", + "Use the right arm to place the fluffy baked bread into the medium-sized frying skillet", + "Take the fluffy baked bread and put it in the flat-bottom skillet.", + "Pick the rounded square loaf up using the right arm and drop it in the black-surfaced skillet with gray sides.", + "Use the right arm to pick the soft square bread and put it in the flat-bottom skillet", + "Grab the medium bread with rounded sides from the table and set it in the metal skillet with comfortable grip.", + "Move the medium bread with rounded sides into the metal skillet from the table", + "Place the golden baked bread from the table into the smooth non-stick skillet", + "Pick up the bread with soft texture and place it in the black-surfaced skillet with gray sides.", + "Pick the medium bread with rounded sides and transfer it to the dark gray skillet", + "Put the bread with rounded edges into the dark gray skillet.", + "Pick up the golden baked bread with the right arm and drop it in the medium-sized frying skillet", + "Place the square-shaped bread piece into the smooth non-stick skillet using the right arm", + "Use the right arm to lift the light brown porous bread and place it into the medium-sized frying skillet.", + "Take the soft square bread off the table into the medium-sized frying skillet", + "Grab the medium bread with rounded sides with the right arm and place in the smooth non-stick skillet", + "Take the fluffy baked bread and drop it into the gray skillet for stovetop cooking.", + "Grab the light brown porous bread and place it inside the skillet for frying food", + "Use the right arm to pick the bread with rounded edges up for the flat-bottom skillet", + "Move the bread with rounded edges to the gray skillet for stovetop cooking using the right arm", + "Place the bread with rounded edges into the round skillet with open handle end with the right arm.", + "Grab the medium-sized bread piece and stick it in the skillet with black cooking surface.", + "Transfer the bread with rounded edges into the round skillet with open handle end from the table", + "Use the right arm to stick the light brown porous bread into the round skillet with open handle end.", + "Use the right arm to grab the medium bread with rounded sides for the round skillet with open handle end", + "Pick up the rounded square loaf and put it in the flat-bottom skillet", + "Use the right arm to set the medium-sized bread piece into the skillet with black cooking surface.", + "Pick the fluffy baked bread off the table and place it in the dark gray skillet.", + "Use the right arm to grab the soft square bread for the dark gray skillet", + "Use the right arm to grab the square-shaped bread piece and set it in the flat-bottom skillet.", + "Lift the light brown porous bread and drop it into the skillet for frying food", + "Use the right arm to take the light brown porous bread and move it into the metal skillet.", + "Take the medium-sized bread piece and set it into the metal skillet with comfortable grip", + "Set the bread with soft texture into the gray skillet for stovetop cooking after grabbing", + "Take the medium bread with rounded sides with the right arm and drop into the dark gray skillet", + "Lift the fluffy baked bread using the right arm and move it to the skillet with black cooking surface", + "Use the right arm to move the bread with rounded edges into the flat-bottom skillet", + "Pick the medium bread with rounded sides and set it into the metal skillet with comfortable grip.", + "Grab the bread with soft texture using the right arm and place it in the medium-sized frying skillet", + "Take the bread with rounded edges and place it inside the dark gray skillet", + "Pick the sponge-textured golden bread with the right arm and set it in the metal skillet with comfortable grip", + "Move the sponge-textured golden bread from table into the metal skillet with comfortable grip", + "Use the right arm to pick the bread with rounded edges and place it into the skillet with black cooking surface.", + "Use the right arm to pick the sponge-textured golden bread for the black-surfaced skillet with gray sides", + "Take the square-shaped bread piece and put it in the flat-bottom skillet.", + "Lift the fluffy baked bread and drop it into the skillet with black cooking surface.", + "Put the square-shaped bread piece into the medium-sized frying skillet after grabbing it", + "Take the medium-sized bread piece and place it inside the round skillet with open handle end", + "Grab the golden baked bread and drop it into the skillet for frying food", + "Use the right arm to move the soft square bread and set it into the flat-bottom skillet.", + "Grab the bread with rounded edges and place it inside the skillet for frying food.", + "Use the right arm to place the medium-sized bread piece into the skillet with black cooking surface", + "Take the medium bread with rounded sides and put it in the metal skillet.", + "Pick the bread with rounded edges up using the right arm and drop it in the round skillet with open handle end.", + "Use the right arm to pick the light brown porous bread and put it in the metal skillet", + "Grab the soft square bread from the table and set it in the gray skillet for stovetop cooking.", + "Move the medium bread with rounded sides into the metal skillet with comfortable grip from the table", + "Place the light brown porous bread from the table into the flat-bottom skillet" + ], + "unseen": [ + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Use the right arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Move the soft bread with golden edges to the versatile skillet for frying and sauteing using the right arm.", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Pick up the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Use the right arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Move the square bread with light spots to the dark skillet with shiny finish using the right arm.", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Pick up the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Pick the soft bread with golden edges up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Pick up the square bread with light spots and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Grab the square bread with light spots and drop it into the versatile skillet for frying and sauteing.", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Pick the soft bread with golden edges up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Move the square bread with light spots to the dark skillet with shiny finish using the right arm.", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it into the dark skillet with shiny finish.", + "Pick up the square bread with light spots and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Take the soft bread with golden edges and put it in the pan-shaped skillet with hole in handle", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Use the right arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Move the square bread with light spots to the versatile skillet for frying and sauteing using the right arm.", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing.", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Use the right arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and drop it into the versatile skillet for frying and sauteing.", + "Take the spongy golden brown bread and put it in the versatile skillet for frying and sauteing", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Use the right arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Move the soft bread with golden edges to the versatile skillet for frying and sauteing using the right arm.", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Use the right arm to move the spongy golden brown bread to the versatile skillet for frying and sauteing.", + "Move the spongy golden brown bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it in the versatile skillet for frying and sauteing" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode31.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..74735346db19d0b0fb4144e8f43d6807807205e5 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the soft bread and drop it into the metal skillet with comfortable grip", + "Move the golden bread from table into the medium-sized frying skillet", + "Use the right arm to pick the cuboid bread and put it in the metal skillet", + "Take the hand-sized bread block and put it in the round skillet with open handle end.", + "Pick the doughy and soft bread up using the right arm and drop it in the metal skillet with comfortable grip.", + "Move the light golden brown bread into the flat-bottom skillet from the table", + "Grab the cuboid bread and place it inside the skillet for frying food.", + "Put the soft bread into the skillet for frying food after grabbing it", + "Use the right arm to move the soft bread and set it into the gray skillet for stovetop cooking.", + "Grab the doughy and soft bread from the table and set it in the metal skillet with comfortable grip.", + "Take the soft bread and set it into the metal skillet", + "Take the cuboid bread and place it inside the round skillet with open handle end", + "Put the cuboid bread into the smooth non-stick skillet.", + "Pick the bread loaf with bumpy surface and set it into the flat-bottom skillet.", + "Use the right arm to stick the soft bread into the smooth non-stick skillet.", + "Use the right arm to grab the cuboid bread and set it in the round skillet with handle.", + "Pick the bread block with light patches and transfer it to the smooth non-stick skillet", + "Lift the golden bread loaf and drop it into the metal skillet with comfortable grip.", + "Take the bread block with light patches and put it in the black-surfaced skillet with gray sides.", + "Grab the square-shaped bread with the right arm and place in the metal skillet", + "Take the bread loaf with uneven edges and place it inside the round skillet with handle", + "Use the right arm to pick the bread loaf with bumpy surface and place it into the round skillet with open handle end.", + "Pick up the bread block with light patches with the right arm and drop it in the dark gray skillet", + "Use the right arm to place the cuboid bread into the dark gray skillet", + "Grab the square-shaped bread and stick it in the round skillet with open handle end.", + "Move the bread block with light patches to the gray skillet for stovetop cooking using the right arm", + "Place the cuboid bread into the metal skillet using the right arm", + "Place the soft bread into the gray skillet for stovetop cooking with the right arm.", + "Pick up the doughy and soft bread and place it in the metal skillet.", + "Pick the bread loaf with bumpy surface off the table and place it in the metal skillet.", + "Use the right arm to lift the golden bread and place it into the metal skillet with comfortable grip.", + "Take the bread block with light patches with the right arm and drop into the round skillet with open handle end", + "Set the golden bread into the black-surfaced skillet with gray sides after grabbing", + "Use the right arm to take the bread with rough texture and move it into the skillet with black cooking surface.", + "Take the doughy and soft bread and drop it into the round skillet with handle.", + "Use the right arm to grab the golden bread for the black-surfaced skillet with gray sides", + "Pick up the light golden brown bread and put it in the smooth non-stick skillet", + "Use the right arm to grab the bread with rough texture for the round skillet with handle", + "Take the bread block with light patches off the table into the smooth non-stick skillet", + "Grab the doughy and soft bread and place it inside the skillet with black cooking surface", + "Place the hand-sized bread block from the table into the gray skillet for stovetop cooking", + "Use the right arm to pick the bread loaf with bumpy surface for the round skillet with open handle end", + "Use the right arm to pick the bread with rough texture up for the round skillet with handle", + "Lift the cuboid bread using the right arm and move it to the metal skillet with comfortable grip", + "Grab the golden bread loaf using the right arm and place it in the round skillet with handle", + "Pick the light golden brown bread with the right arm and set it in the medium-sized frying skillet", + "Transfer the golden bread loaf into the dark gray skillet from the table", + "Lift the bread loaf with uneven edges and drop it into the gray skillet for stovetop cooking", + "Use the right arm to move the light golden brown bread into the gray skillet for stovetop cooking", + "Use the right arm to set the golden bread loaf into the skillet with black cooking surface.", + "Grab the cuboid bread and drop it into the dark gray skillet", + "Move the square-shaped bread from table into the metal skillet", + "Use the right arm to pick the cuboid bread and put it in the dark gray skillet", + "Take the golden bread loaf and put it in the skillet with black cooking surface.", + "Pick the cuboid bread up using the right arm and drop it in the metal skillet.", + "Move the hand-sized bread block into the black-surfaced skillet with gray sides from the table", + "Grab the soft bread and place it inside the black-surfaced skillet with gray sides.", + "Put the square-shaped bread into the dark gray skillet after grabbing it", + "Use the right arm to move the cuboid bread and set it into the round skillet with handle.", + "Grab the square-shaped bread from the table and set it in the black-surfaced skillet with gray sides.", + "Take the golden bread and set it into the gray skillet for stovetop cooking", + "Take the soft bread and place it inside the smooth non-stick skillet", + "Put the soft bread into the round skillet with open handle end.", + "Pick the bread loaf with uneven edges and set it into the black-surfaced skillet with gray sides.", + "Use the right arm to stick the golden bread loaf into the medium-sized frying skillet.", + "Use the right arm to grab the bread loaf with uneven edges and set it in the medium-sized frying skillet.", + "Pick the bread block with light patches and transfer it to the flat-bottom skillet", + "Lift the cuboid bread and drop it into the medium-sized frying skillet.", + "Take the hand-sized bread block and put it in the metal skillet.", + "Grab the golden bread loaf with the right arm and place in the medium-sized frying skillet", + "Take the doughy and soft bread and place it inside the black-surfaced skillet with gray sides", + "Use the right arm to pick the bread loaf with uneven edges and place it into the smooth non-stick skillet.", + "Pick up the bread block with light patches with the right arm and drop it in the skillet for frying food", + "Use the right arm to place the square-shaped bread into the metal skillet with comfortable grip", + "Grab the bread loaf with bumpy surface and stick it in the smooth non-stick skillet.", + "Move the bread with rough texture to the skillet with black cooking surface using the right arm", + "Place the soft bread into the skillet with black cooking surface using the right arm", + "Place the golden bread loaf into the round skillet with open handle end with the right arm.", + "Pick up the golden bread and place it in the medium-sized frying skillet.", + "Pick the soft bread off the table and place it in the round skillet with handle.", + "Use the right arm to lift the soft bread and place it into the flat-bottom skillet.", + "Take the cuboid bread with the right arm and drop into the dark gray skillet", + "Set the bread with rough texture into the smooth non-stick skillet after grabbing", + "Use the right arm to take the golden bread and move it into the gray skillet for stovetop cooking.", + "Take the cuboid bread and drop it into the black-surfaced skillet with gray sides.", + "Use the right arm to grab the hand-sized bread block for the flat-bottom skillet", + "Pick up the light golden brown bread and put it in the smooth non-stick skillet", + "Use the right arm to grab the hand-sized bread block for the dark gray skillet", + "Take the cuboid bread off the table into the skillet with black cooking surface", + "Grab the light golden brown bread and place it inside the round skillet with open handle end", + "Place the light golden brown bread from the table into the metal skillet", + "Use the right arm to pick the hand-sized bread block for the flat-bottom skillet", + "Use the right arm to pick the golden bread up for the round skillet with handle", + "Lift the bread loaf with uneven edges using the right arm and move it to the skillet for frying food", + "Grab the bread block with light patches using the right arm and place it in the smooth non-stick skillet", + "Pick the bread with rough texture with the right arm and set it in the metal skillet", + "Transfer the hand-sized bread block into the metal skillet with comfortable grip from the table", + "Lift the square-shaped bread and drop it into the gray skillet for stovetop cooking", + "Use the right arm to move the square-shaped bread into the round skillet with open handle end", + "Use the right arm to set the hand-sized bread block into the flat-bottom skillet." + ], + "unseen": [ + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the right arm.", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the right arm.", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Use the right arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Use the right arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Use the right arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Use the right arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Use the right arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Use the right arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the right arm.", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode32.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..4b744ec03208546d60688b5e5799422d81d8c540 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the soft square bread from the table into the round cooking pan", + "Use the right arm to grab the soft square bread for the heavy black cooking skillet", + "Use the right arm to grab the fluffy baked bread for the solid dark-colored round pan", + "Take the golden baked bread and put it in the black pan with curved edges.", + "Grab the medium bread with rounded sides with the right arm and place in the skillet with extended grip handle", + "Use the right arm to lift the fluffy baked bread and place it into the solid dark-colored round pan.", + "Pick up the medium-sized bread piece and place it in the dark pan with sturdy grip.", + "Set the bread with soft texture into the solid dark-colored round pan after grabbing", + "Pick the fluffy baked bread and set it into the round pan with hole in handle.", + "Grab the bread with soft texture using the right arm and place it in the heavy black cooking skillet", + "Place the bread with soft texture into the round cooking pan with the right arm.", + "Lift the medium-sized bread piece using the right arm and move it to the versatile skillet for stovetop cooking", + "Take the golden brown bread off the table into the solid dark-colored round pan", + "Use the right arm to set the medium-sized bread piece into the skillet with extended grip handle.", + "Pick up the bread with rounded edges with the right arm and drop it in the heavy black cooking skillet", + "Take the bread with soft texture and set it into the round cooking pan", + "Put the sponge-textured golden bread into the skillet with extended grip handle.", + "Transfer the soft square bread into the black skillet with smooth base from the table", + "Use the right arm to pick the medium bread with rounded sides and place it into the round pan with hole in handle.", + "Grab the medium bread with rounded sides and place it inside the round pan with hole in handle", + "Pick the golden brown bread with the right arm and set it in the dark pan with sturdy grip", + "Grab the fluffy baked bread and place it inside the solid dark-colored round pan.", + "Use the right arm to grab the soft square bread and set it in the flat-bottomed skillet with long handle.", + "Pick the square-shaped bread piece and transfer it to the flat-bottomed skillet with long handle", + "Pick the bread with soft texture up using the right arm and drop it in the smooth round pan made of iron.", + "Use the right arm to pick the golden baked bread up for the black skillet with smooth base", + "Use the right arm to pick the golden brown bread for the round cooking pan", + "Take the sponge-textured golden bread and place it inside the dark pan with sturdy grip", + "Use the right arm to move the bread with rounded edges into the solid dark-colored round pan", + "Use the right arm to take the fluffy baked bread and move it into the black skillet with smooth base.", + "Take the square-shaped bread piece with the right arm and drop into the heavy black cooking skillet", + "Grab the fluffy baked bread and drop it into the dark pan with sturdy grip", + "Put the bread with rounded edges into the solid dark-colored round pan after grabbing it", + "Move the bread with soft texture to the dark pan with sturdy grip using the right arm", + "Move the square-shaped bread piece into the flat-bottomed skillet with long handle from the table", + "Grab the golden brown bread from the table and set it in the round cooking pan.", + "Move the square-shaped bread piece from table into the solid dark-colored round pan", + "Take the golden brown bread and place it inside the flat-bottomed skillet with long handle", + "Use the right arm to pick the golden brown bread and put it in the black skillet with smooth base", + "Place the sponge-textured golden bread into the skillet with extended grip handle using the right arm", + "Take the square-shaped bread piece and drop it into the solid dark-colored round pan.", + "Use the right arm to stick the golden brown bread into the medium black pan with handle.", + "Lift the golden baked bread and drop it into the skillet with extended grip handle.", + "Pick the medium bread with rounded sides off the table and place it in the dark pan with sturdy grip.", + "Grab the soft square bread and stick it in the flat-bottomed skillet with long handle.", + "Lift the bread with rounded edges and drop it into the medium black pan with handle", + "Take the golden baked bread and put it in the round pan with hole in handle.", + "Use the right arm to move the rounded square loaf and set it into the skillet with extended grip handle.", + "Pick up the square-shaped bread piece and put it in the round pan with hole in handle", + "Use the right arm to place the light brown porous bread into the round pan with hole in handle", + "Place the bread with soft texture from the table into the round cooking pan", + "Use the right arm to grab the medium bread with rounded sides for the flat-bottomed skillet with long handle", + "Use the right arm to grab the rounded square loaf for the black pan with curved edges", + "Take the fluffy baked bread and put it in the smooth round pan made of iron.", + "Grab the square-shaped bread piece with the right arm and place in the solid dark-colored round pan", + "Use the right arm to lift the soft square bread and place it into the heavy black cooking skillet.", + "Pick up the medium bread with rounded sides and place it in the round pan with hole in handle.", + "Set the medium bread with rounded sides into the dark pan with sturdy grip after grabbing", + "Pick the rounded square loaf and set it into the versatile skillet for stovetop cooking.", + "Grab the sponge-textured golden bread using the right arm and place it in the smooth round pan made of iron", + "Place the medium bread with rounded sides into the round pan with hole in handle with the right arm.", + "Lift the golden baked bread using the right arm and move it to the dark pan with sturdy grip", + "Take the square-shaped bread piece off the table into the dark pan with sturdy grip", + "Use the right arm to set the square-shaped bread piece into the skillet with extended grip handle.", + "Pick up the bread with rounded edges with the right arm and drop it in the round pan with hole in handle", + "Take the bread with rounded edges and set it into the smooth round pan made of iron", + "Put the light brown porous bread into the black pan with curved edges.", + "Transfer the medium bread with rounded sides into the heavy black cooking skillet from the table", + "Use the right arm to pick the fluffy baked bread and place it into the smooth round pan made of iron.", + "Grab the soft square bread and place it inside the black pan with curved edges", + "Pick the fluffy baked bread with the right arm and set it in the black pan with curved edges", + "Grab the golden brown bread and place it inside the medium black pan with handle.", + "Use the right arm to grab the fluffy baked bread and set it in the round pan with hole in handle.", + "Pick the medium bread with rounded sides and transfer it to the smooth round pan made of iron", + "Pick the sponge-textured golden bread up using the right arm and drop it in the black skillet with smooth base.", + "Use the right arm to pick the golden baked bread up for the dark pan with sturdy grip", + "Use the right arm to pick the soft square bread for the black pan with curved edges", + "Take the square-shaped bread piece and place it inside the versatile skillet for stovetop cooking", + "Use the right arm to move the medium bread with rounded sides into the black skillet with smooth base", + "Use the right arm to take the bread with soft texture and move it into the skillet with extended grip handle.", + "Take the medium bread with rounded sides with the right arm and drop into the solid dark-colored round pan", + "Grab the rounded square loaf and drop it into the flat-bottomed skillet with long handle", + "Put the sponge-textured golden bread into the solid dark-colored round pan after grabbing it", + "Move the golden baked bread to the smooth round pan made of iron using the right arm", + "Move the square-shaped bread piece into the round cooking pan from the table", + "Grab the medium-sized bread piece from the table and set it in the medium black pan with handle.", + "Move the sponge-textured golden bread from table into the round cooking pan", + "Take the golden brown bread and place it inside the black skillet with smooth base", + "Use the right arm to pick the soft square bread and put it in the flat-bottomed skillet with long handle", + "Place the soft square bread into the round pan with hole in handle using the right arm", + "Take the medium bread with rounded sides and drop it into the flat-bottomed skillet with long handle.", + "Use the right arm to stick the bread with soft texture into the heavy black cooking skillet.", + "Lift the golden baked bread and drop it into the black skillet with smooth base.", + "Pick the golden baked bread off the table and place it in the heavy black cooking skillet.", + "Grab the fluffy baked bread and stick it in the round pan with hole in handle.", + "Lift the rounded square loaf and drop it into the medium black pan with handle", + "Take the rounded square loaf and put it in the smooth round pan made of iron.", + "Use the right arm to move the soft square bread and set it into the black pan with curved edges.", + "Pick up the light brown porous bread and put it in the round pan with hole in handle", + "Use the right arm to place the medium-sized bread piece into the smooth round pan made of iron" + ], + "unseen": [ + "Pick up the square bread with light spots and drop it into the black skillet", + "Grab the soft bread with golden edges and place it in the iron skillet for frying foods", + "Take the spongy golden brown bread and put it in the round cast-iron skillet", + "Grab the spongy golden brown bread and drop it into the iron skillet for frying foods.", + "Move the spongy golden brown bread to the black skillet using the right arm.", + "Use the right arm to move the soft bread with golden edges to the round cast-iron skillet.", + "Pick the square bread with light spots up and place it in the black skillet", + "Use the right arm to grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Grab the square bread with light spots and place it into the black skillet.", + "Grab the square bread with light spots and set it in the round cast-iron skillet", + "Pick up the soft bread with golden edges and drop it into the black skillet", + "Grab the spongy golden brown bread and place it in the black skillet", + "Take the soft bread with golden edges and put it in the round cast-iron skillet", + "Grab the spongy golden brown bread and drop it into the black skillet.", + "Move the square bread with light spots to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the spongy golden brown bread to the iron skillet for frying foods.", + "Pick the spongy golden brown bread up and place it in the black skillet", + "Use the right arm to grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it into the round cast-iron skillet.", + "Grab the square bread with light spots and set it in the round cast-iron skillet", + "Pick up the square bread with light spots and drop it into the iron skillet for frying foods", + "Grab the square bread with light spots and place it in the black skillet", + "Take the soft bread with golden edges and put it in the round cast-iron skillet", + "Grab the spongy golden brown bread and drop it into the black skillet.", + "Move the soft bread with golden edges to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the square bread with light spots to the iron skillet for frying foods.", + "Pick the spongy golden brown bread up and place it in the iron skillet for frying foods", + "Use the right arm to grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Grab the square bread with light spots and place it into the iron skillet for frying foods.", + "Grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Pick up the soft bread with golden edges and drop it into the black skillet", + "Grab the soft bread with golden edges and place it in the black skillet", + "Take the square bread with light spots and put it in the black skillet", + "Grab the soft bread with golden edges and drop it into the round cast-iron skillet.", + "Move the soft bread with golden edges to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the square bread with light spots to the iron skillet for frying foods.", + "Pick the square bread with light spots up and place it in the black skillet", + "Use the right arm to grab the square bread with light spots and set it in the round cast-iron skillet", + "Grab the square bread with light spots and place it into the black skillet.", + "Grab the spongy golden brown bread and set it in the black skillet", + "Pick up the square bread with light spots and drop it into the round cast-iron skillet", + "Grab the spongy golden brown bread and place it in the round cast-iron skillet", + "Take the spongy golden brown bread and put it in the black skillet", + "Grab the spongy golden brown bread and drop it into the black skillet.", + "Move the soft bread with golden edges to the black skillet using the right arm.", + "Use the right arm to move the spongy golden brown bread to the black skillet.", + "Pick the soft bread with golden edges up and place it in the iron skillet for frying foods", + "Use the right arm to grab the spongy golden brown bread and set it in the black skillet", + "Grab the soft bread with golden edges and place it into the iron skillet for frying foods.", + "Grab the square bread with light spots and set it in the round cast-iron skillet", + "Pick up the square bread with light spots and drop it into the iron skillet for frying foods", + "Grab the soft bread with golden edges and place it in the round cast-iron skillet", + "Take the spongy golden brown bread and put it in the iron skillet for frying foods", + "Grab the square bread with light spots and drop it into the black skillet.", + "Move the square bread with light spots to the round cast-iron skillet using the right arm.", + "Use the right arm to move the soft bread with golden edges to the round cast-iron skillet.", + "Pick the soft bread with golden edges up and place it in the round cast-iron skillet", + "Use the right arm to grab the square bread with light spots and set it in the black skillet", + "Grab the square bread with light spots and place it into the black skillet.", + "Grab the square bread with light spots and set it in the iron skillet for frying foods", + "Pick up the square bread with light spots and drop it into the round cast-iron skillet", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Take the soft bread with golden edges and put it in the round cast-iron skillet", + "Grab the square bread with light spots and drop it into the iron skillet for frying foods.", + "Move the soft bread with golden edges to the round cast-iron skillet using the right arm.", + "Use the right arm to move the square bread with light spots to the black skillet.", + "Pick the square bread with light spots up and place it in the iron skillet for frying foods", + "Use the right arm to grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Grab the square bread with light spots and place it into the black skillet.", + "Grab the square bread with light spots and set it in the iron skillet for frying foods", + "Pick up the square bread with light spots and drop it into the iron skillet for frying foods", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Take the soft bread with golden edges and put it in the black skillet", + "Grab the spongy golden brown bread and drop it into the black skillet.", + "Move the soft bread with golden edges to the black skillet using the right arm.", + "Use the right arm to move the square bread with light spots to the iron skillet for frying foods.", + "Pick the spongy golden brown bread up and place it in the iron skillet for frying foods", + "Use the right arm to grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it into the iron skillet for frying foods.", + "Grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Pick up the soft bread with golden edges and drop it into the iron skillet for frying foods", + "Grab the soft bread with golden edges and place it in the round cast-iron skillet", + "Take the spongy golden brown bread and put it in the iron skillet for frying foods", + "Grab the square bread with light spots and drop it into the round cast-iron skillet.", + "Move the soft bread with golden edges to the black skillet using the right arm.", + "Use the right arm to move the spongy golden brown bread to the round cast-iron skillet.", + "Pick the soft bread with golden edges up and place it in the iron skillet for frying foods", + "Use the right arm to grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it into the round cast-iron skillet.", + "Grab the spongy golden brown bread and set it in the black skillet", + "Pick up the soft bread with golden edges and drop it into the iron skillet for frying foods", + "Grab the spongy golden brown bread and place it in the black skillet", + "Take the soft bread with golden edges and put it in the round cast-iron skillet", + "Grab the spongy golden brown bread and drop it into the iron skillet for frying foods.", + "Move the spongy golden brown bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the spongy golden brown bread to the iron skillet for frying foods.", + "Pick the spongy golden brown bread up and place it in the iron skillet for frying foods", + "Use the right arm to grab the square bread with light spots and set it in the iron skillet for frying foods", + "Grab the soft bread with golden edges and place it into the black skillet.", + "Grab the soft bread with golden edges and set it in the round cast-iron skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode33.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..d2065f7e7fe8176a88363ad5bcc19f40c023ed2e --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick the hand-sized oval loaf and put it in the round skillet with handle", + "Set the bread with split top into the dark gray skillet after grabbing", + "Put the golden bread loaf into the rounded skillet with a holey handle after grabbing it", + "Take the hand-sized oval loaf with the right arm and drop into the rounded skillet with a holey handle", + "Pick up the bread with golden-brown crust and place it in the smooth round cooking skillet.", + "Take the soft brown bread off the table into the medium skillet", + "Take the brown loaf and put it in the gray cooking pan with handle.", + "Pick up the light brown bread with ridges with the right arm and drop it in the dark gray skillet", + "Move the small loaf with curved top to the smooth round cooking skillet using the right arm", + "Use the right arm to move the brown loaf and set it into the medium round cast iron skillet.", + "Use the right arm to lift the golden bread loaf and place it into the smooth round cooking skillet.", + "Use the right arm to take the small loaf with curved top and move it into the gray cooking pan with handle.", + "Pick the light brown bread with ridges up using the right arm and drop it in the hefty black skillet.", + "Grab the light brown bread with ridges and place it inside the rounded skillet with a holey handle.", + "Use the right arm to grab the brown loaf for the medium round cast iron skillet", + "Use the right arm to pick the bread with golden-brown crust up for the smooth round cooking skillet", + "Transfer the light brown bread with ridges into the skillet for cooking from the table", + "Take the small golden brown bread and place it inside the medium round cast iron skillet", + "Take the light brown bread with ridges and place it inside the smooth round cooking skillet", + "Use the right arm to stick the golden bread loaf into the smooth cast iron skillet.", + "Grab the small golden brown bread using the right arm and place it in the smooth cast iron skillet", + "Move the golden bread loaf into the dark gray skillet from the table", + "Place the bread with split top from the table into the smooth round cooking skillet", + "Pick the brown loaf and set it into the gray pan.", + "Grab the light brown bread with ridges from the table and set it in the rounded skillet with a holey handle.", + "Use the right arm to place the brown loaf into the smooth round cooking skillet", + "Grab the brown loaf with the right arm and place in the smooth round cooking skillet", + "Lift the brown loaf and drop it into the round skillet with handle.", + "Grab the brown loaf and place it inside the round skillet with handle", + "Place the golden bread loaf into the medium round cast iron skillet using the right arm", + "Grab the small loaf with curved top and drop it into the rounded skillet with a holey handle", + "Take the hand-sized oval loaf and set it into the round skillet with handle", + "Use the right arm to grab the light brown loaf with smooth sides for the smooth cast iron skillet", + "Grab the golden bread loaf and stick it in the smooth cast iron skillet.", + "Move the small golden brown bread from table into the smooth cast iron skillet", + "Pick the brown loaf and transfer it to the gray cooking pan with handle", + "Put the golden bread loaf into the gray cooking pan with handle.", + "Pick the golden bread loaf with the right arm and set it in the dark gray skillet", + "Pick up the bread with warm golden color and put it in the gray pan", + "Pick the smooth loaf with rounded edges off the table and place it in the gray cooking pan with handle.", + "Lift the hand-sized oval loaf using the right arm and move it to the rounded skillet with a holey handle", + "Use the right arm to set the hand-sized oval loaf into the medium round cast iron skillet.", + "Take the bread with warm golden color and put it in the gray pan.", + "Use the right arm to grab the bread with golden-brown crust and set it in the gray cooking pan with handle.", + "Lift the light brown bread with ridges and drop it into the round skillet with handle", + "Use the right arm to pick the light brown bread with ridges for the round skillet with handle", + "Take the light brown bread with ridges and drop it into the medium skillet.", + "Use the right arm to pick the brown loaf and place it into the gray pan.", + "Use the right arm to move the hand-sized oval loaf into the medium skillet", + "Place the small golden brown bread into the smooth round cooking skillet with the right arm.", + "Use the right arm to pick the bread with warm golden color and put it in the medium round cast iron skillet", + "Set the golden bread loaf into the medium round cast iron skillet after grabbing", + "Put the bread with warm golden color into the medium skillet after grabbing it", + "Take the smooth loaf with rounded edges with the right arm and drop into the medium round cast iron skillet", + "Pick up the hand-sized oval loaf and place it in the pan with dark finish.", + "Take the hand-sized oval loaf off the table into the pan with dark finish", + "Take the soft brown bread and put it in the gray cooking pan with handle.", + "Pick up the brown loaf with the right arm and drop it in the medium skillet", + "Move the smooth loaf with rounded edges to the medium round cast iron skillet using the right arm", + "Use the right arm to move the light brown bread with ridges and set it into the gray pan.", + "Use the right arm to lift the smooth loaf with rounded edges and place it into the pan with dark finish.", + "Use the right arm to take the bread with warm golden color and move it into the medium round cast iron skillet.", + "Pick the bread with golden-brown crust up using the right arm and drop it in the smooth round cooking skillet.", + "Grab the small loaf with curved top and place it inside the hefty black skillet.", + "Use the right arm to grab the light brown loaf with smooth sides for the smooth cast iron skillet", + "Use the right arm to pick the golden bread loaf up for the rounded skillet with a holey handle", + "Transfer the light brown bread with ridges into the skillet for cooking from the table", + "Take the bread with warm golden color and place it inside the dark gray skillet", + "Take the bread with golden-brown crust and place it inside the smooth round cooking skillet", + "Use the right arm to stick the bread with warm golden color into the dark gray skillet.", + "Grab the light brown bread with ridges using the right arm and place it in the smooth cast iron skillet", + "Move the golden bread loaf into the gray pan from the table", + "Place the small golden brown bread from the table into the medium skillet", + "Pick the soft brown bread and set it into the pan with dark finish.", + "Grab the golden bread loaf from the table and set it in the smooth cast iron skillet.", + "Use the right arm to place the small loaf with curved top into the dark gray skillet", + "Grab the small golden brown bread with the right arm and place in the smooth cast iron skillet", + "Lift the hand-sized oval loaf and drop it into the medium skillet.", + "Grab the small golden brown bread and place it inside the skillet for cooking", + "Place the bread with warm golden color into the smooth round cooking skillet using the right arm", + "Grab the hand-sized oval loaf and drop it into the smooth cast iron skillet", + "Take the bread with golden-brown crust and set it into the pan with dark finish", + "Use the right arm to grab the smooth loaf with rounded edges for the gray cooking pan with handle", + "Grab the bread with golden-brown crust and stick it in the round skillet with handle.", + "Move the smooth loaf with rounded edges from table into the skillet for cooking", + "Pick the small golden brown bread and transfer it to the gray pan", + "Put the small loaf with curved top into the medium round cast iron skillet.", + "Pick the hand-sized oval loaf with the right arm and set it in the smooth cast iron skillet", + "Pick up the hand-sized oval loaf and put it in the dark gray skillet", + "Pick the brown loaf off the table and place it in the medium round cast iron skillet.", + "Lift the small golden brown bread using the right arm and move it to the gray cooking pan with handle", + "Use the right arm to set the light brown bread with ridges into the medium round cast iron skillet.", + "Take the hand-sized oval loaf and put it in the hefty black skillet.", + "Use the right arm to grab the light brown bread with ridges and set it in the hefty black skillet.", + "Lift the bread with split top and drop it into the medium skillet", + "Use the right arm to pick the soft brown bread for the dark gray skillet", + "Take the light brown loaf with smooth sides and drop it into the medium skillet.", + "Use the right arm to pick the brown loaf and place it into the round skillet with handle.", + "Use the right arm to move the light brown loaf with smooth sides into the dark gray skillet", + "Place the golden bread loaf into the pan with dark finish with the right arm." + ], + "unseen": [ + "Use the right arm to grab the oval bread and set it in the dark gray round cast iron pan", + "Use the right arm to move the oval-shaped soft bread to the blackish-gray cast iron skillet.", + "Grab the oval bread and drop it into the cooking skillet with grippy handle.", + "Grab the oval bread and place it into the blackish-gray cast iron skillet.", + "Pick up the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet", + "Pick the oval bread up and place it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Grab the oval bread and place it in the dark gray round cast iron pan", + "Move the oval bread to the dark gray round cast iron pan using the right arm.", + "Take the oval bread and put it in the blackish-gray cast iron skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Use the right arm to move the rounded oval bread to the cooking skillet with grippy handle.", + "Grab the rounded oval bread and drop it into the blackish-gray cast iron skillet.", + "Grab the rounded oval bread and place it into the blackish-gray cast iron skillet.", + "Pick up the rounded oval bread and drop it into the cooking skillet with grippy handle", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and place it in the dark gray round cast iron pan", + "Move the oval-shaped soft bread to the blackish-gray cast iron skillet using the right arm.", + "Take the oval bread and put it in the blackish-gray cast iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Use the right arm to move the rounded oval bread to the dark gray round cast iron pan.", + "Grab the oval bread and drop it into the dark gray round cast iron pan.", + "Grab the rounded oval bread and place it into the cooking skillet with grippy handle.", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Pick the oval-shaped soft bread up and place it in the dark gray round cast iron pan", + "Grab the oval bread and set it in the dark gray round cast iron pan", + "Grab the oval bread and place it in the dark gray round cast iron pan", + "Move the oval-shaped soft bread to the cooking skillet with grippy handle using the right arm.", + "Take the oval-shaped soft bread and put it in the dark gray round cast iron pan", + "Use the right arm to grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Use the right arm to move the oval bread to the cooking skillet with grippy handle.", + "Grab the rounded oval bread and drop it into the dark gray round cast iron pan.", + "Grab the oval bread and place it into the blackish-gray cast iron skillet.", + "Pick up the oval bread and drop it into the cooking skillet with grippy handle", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and place it in the dark gray round cast iron pan", + "Move the rounded oval bread to the cooking skillet with grippy handle using the right arm.", + "Take the oval bread and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the oval bread and set it in the blackish-gray cast iron skillet", + "Use the right arm to move the oval bread to the cooking skillet with grippy handle.", + "Grab the rounded oval bread and drop it into the blackish-gray cast iron skillet.", + "Grab the rounded oval bread and place it into the cooking skillet with grippy handle.", + "Pick up the rounded oval bread and drop it into the cooking skillet with grippy handle", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Grab the oval bread and place it in the cooking skillet with grippy handle", + "Move the rounded oval bread to the dark gray round cast iron pan using the right arm.", + "Take the oval-shaped soft bread and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the oval bread and set it in the blackish-gray cast iron skillet", + "Use the right arm to move the oval bread to the blackish-gray cast iron skillet.", + "Grab the rounded oval bread and drop it into the blackish-gray cast iron skillet.", + "Grab the oval bread and place it into the dark gray round cast iron pan.", + "Pick up the oval-shaped soft bread and drop it into the cooking skillet with grippy handle", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and set it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and place it in the dark gray round cast iron pan", + "Move the rounded oval bread to the dark gray round cast iron pan using the right arm.", + "Take the oval-shaped soft bread and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the oval bread and set it in the cooking skillet with grippy handle", + "Use the right arm to move the oval bread to the cooking skillet with grippy handle.", + "Grab the rounded oval bread and drop it into the dark gray round cast iron pan.", + "Grab the oval bread and place it into the dark gray round cast iron pan.", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Pick the oval-shaped soft bread up and place it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Grab the oval bread and place it in the blackish-gray cast iron skillet", + "Move the oval bread to the cooking skillet with grippy handle using the right arm.", + "Take the rounded oval bread and put it in the dark gray round cast iron pan", + "Use the right arm to grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Use the right arm to move the oval-shaped soft bread to the cooking skillet with grippy handle.", + "Grab the oval bread and drop it into the cooking skillet with grippy handle.", + "Grab the oval-shaped soft bread and place it into the blackish-gray cast iron skillet.", + "Pick up the oval-shaped soft bread and drop it into the cooking skillet with grippy handle", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Grab the rounded oval bread and place it in the dark gray round cast iron pan", + "Move the oval-shaped soft bread to the blackish-gray cast iron skillet using the right arm.", + "Take the rounded oval bread and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the oval bread and set it in the cooking skillet with grippy handle", + "Use the right arm to move the oval bread to the cooking skillet with grippy handle.", + "Grab the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet.", + "Grab the rounded oval bread and place it into the dark gray round cast iron pan.", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Grab the rounded oval bread and place it in the dark gray round cast iron pan", + "Move the rounded oval bread to the dark gray round cast iron pan using the right arm.", + "Take the oval bread and put it in the blackish-gray cast iron skillet", + "Use the right arm to grab the oval bread and set it in the cooking skillet with grippy handle", + "Use the right arm to move the rounded oval bread to the blackish-gray cast iron skillet.", + "Grab the rounded oval bread and drop it into the dark gray round cast iron pan.", + "Grab the oval-shaped soft bread and place it into the dark gray round cast iron pan.", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Pick the oval bread up and place it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and place it in the dark gray round cast iron pan", + "Move the oval bread to the blackish-gray cast iron skillet using the right arm.", + "Take the rounded oval bread and put it in the blackish-gray cast iron skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode34.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..3eb5a78ddb0338b741103fdbc5ead074f1d7925c --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the square-shaped bread piece and drop it into the solid dark-colored round pan.", + "Use the left arm to lift the sponge-textured golden bread and place it into the round cooking pan.", + "Place the medium bread with rounded sides into the heavy black cooking skillet using the left arm", + "Pick the medium-sized bread piece and transfer it to the black pan with curved edges", + "Grab the soft square bread using the left arm and place it in the solid dark-colored round pan", + "Use the left arm to grab the bread with soft texture and set it in the dark pan with sturdy grip.", + "Move the golden brown bread to the black skillet with smooth base using the left arm", + "Grab the medium bread with rounded sides and place it inside the versatile skillet for stovetop cooking.", + "Pick up the medium bread with rounded sides and place it in the dark pan with sturdy grip.", + "Use the left arm to stick the soft square bread into the solid dark-colored round pan.", + "Take the golden brown bread and drop it into the skillet with extended grip handle.", + "Use the left arm to pick the fluffy baked bread and place it into the skillet with extended grip handle.", + "Use the left arm to grab the sponge-textured golden bread for the dark pan with sturdy grip", + "Use the left arm to move the sponge-textured golden bread into the black skillet with smooth base", + "Grab the bread with soft texture with the left arm and place in the black pan with curved edges", + "Take the light brown porous bread off the table into the black skillet with smooth base", + "Transfer the sponge-textured golden bread into the round pan with hole in handle from the table", + "Take the light brown porous bread and place it inside the black pan with curved edges", + "Pick the sponge-textured golden bread off the table and place it in the smooth round pan made of iron.", + "Put the fluffy baked bread into the dark pan with sturdy grip.", + "Use the left arm to pick the light brown porous bread for the round cooking pan", + "Use the left arm to place the golden brown bread into the round pan with hole in handle", + "Place the golden baked bread into the black pan with curved edges with the left arm.", + "Move the golden brown bread from table into the versatile skillet for stovetop cooking", + "Use the left arm to move the rounded square loaf and set it into the skillet with extended grip handle.", + "Pick the golden baked bread up using the left arm and drop it in the skillet with extended grip handle.", + "Grab the light brown porous bread from the table and set it in the heavy black cooking skillet.", + "Pick up the rounded square loaf with the left arm and drop it in the skillet with extended grip handle", + "Move the sponge-textured golden bread into the solid dark-colored round pan from the table", + "Pick the square-shaped bread piece with the left arm and set it in the solid dark-colored round pan", + "Take the golden brown bread and place it inside the round pan with hole in handle", + "Take the soft square bread and set it into the medium black pan with handle", + "Pick the fluffy baked bread and set it into the smooth round pan made of iron.", + "Use the left arm to set the fluffy baked bread into the medium black pan with handle.", + "Put the light brown porous bread into the medium black pan with handle after grabbing it", + "Lift the medium-sized bread piece using the left arm and move it to the solid dark-colored round pan", + "Set the soft square bread into the skillet with extended grip handle after grabbing", + "Take the fluffy baked bread and put it in the round cooking pan.", + "Lift the light brown porous bread and drop it into the flat-bottomed skillet with long handle", + "Use the left arm to grab the medium bread with rounded sides for the solid dark-colored round pan", + "Use the left arm to take the bread with soft texture and move it into the medium black pan with handle.", + "Grab the medium-sized bread piece and drop it into the medium black pan with handle", + "Grab the bread with soft texture and place it inside the solid dark-colored round pan", + "Pick up the bread with soft texture and put it in the black skillet with smooth base", + "Use the left arm to pick the square-shaped bread piece and put it in the medium black pan with handle", + "Use the left arm to pick the golden baked bread up for the dark pan with sturdy grip", + "Place the bread with soft texture from the table into the medium black pan with handle", + "Take the golden baked bread with the left arm and drop into the versatile skillet for stovetop cooking", + "Take the medium-sized bread piece and put it in the round pan with hole in handle.", + "Grab the light brown porous bread and stick it in the smooth round pan made of iron.", + "Lift the golden brown bread and drop it into the medium black pan with handle.", + "Use the left arm to lift the sponge-textured golden bread and place it into the medium black pan with handle.", + "Place the medium bread with rounded sides into the versatile skillet for stovetop cooking using the left arm", + "Pick the bread with soft texture and transfer it to the round pan with hole in handle", + "Grab the rounded square loaf using the left arm and place it in the dark pan with sturdy grip", + "Use the left arm to grab the square-shaped bread piece and set it in the round cooking pan.", + "Move the fluffy baked bread to the solid dark-colored round pan using the left arm", + "Grab the medium-sized bread piece and place it inside the black skillet with smooth base.", + "Pick up the light brown porous bread and place it in the round cooking pan.", + "Use the left arm to stick the rounded square loaf into the dark pan with sturdy grip.", + "Take the soft square bread and drop it into the black skillet with smooth base.", + "Use the left arm to pick the bread with rounded edges and place it into the flat-bottomed skillet with long handle.", + "Use the left arm to grab the square-shaped bread piece for the versatile skillet for stovetop cooking", + "Use the left arm to move the golden brown bread into the solid dark-colored round pan", + "Grab the soft square bread with the left arm and place in the medium black pan with handle", + "Take the medium bread with rounded sides off the table into the round cooking pan", + "Transfer the medium bread with rounded sides into the dark pan with sturdy grip from the table", + "Take the fluffy baked bread and place it inside the heavy black cooking skillet", + "Pick the golden brown bread off the table and place it in the versatile skillet for stovetop cooking.", + "Put the bread with rounded edges into the black skillet with smooth base.", + "Use the left arm to pick the bread with soft texture for the smooth round pan made of iron", + "Use the left arm to place the fluffy baked bread into the black skillet with smooth base", + "Place the medium-sized bread piece into the black skillet with smooth base with the left arm.", + "Move the bread with rounded edges from table into the smooth round pan made of iron", + "Use the left arm to move the sponge-textured golden bread and set it into the dark pan with sturdy grip.", + "Pick the rounded square loaf up using the left arm and drop it in the smooth round pan made of iron.", + "Grab the bread with soft texture from the table and set it in the versatile skillet for stovetop cooking.", + "Pick up the bread with soft texture with the left arm and drop it in the black pan with curved edges", + "Move the light brown porous bread into the round pan with hole in handle from the table", + "Pick the sponge-textured golden bread with the left arm and set it in the smooth round pan made of iron", + "Take the soft square bread and place it inside the round cooking pan", + "Take the golden brown bread and set it into the medium black pan with handle", + "Pick the rounded square loaf and set it into the medium black pan with handle.", + "Use the left arm to set the golden brown bread into the medium black pan with handle.", + "Put the golden brown bread into the medium black pan with handle after grabbing it", + "Lift the rounded square loaf using the left arm and move it to the dark pan with sturdy grip", + "Set the square-shaped bread piece into the round pan with hole in handle after grabbing", + "Take the golden brown bread and put it in the black pan with curved edges.", + "Lift the soft square bread and drop it into the black pan with curved edges", + "Use the left arm to grab the fluffy baked bread for the black pan with curved edges", + "Use the left arm to take the bread with soft texture and move it into the versatile skillet for stovetop cooking.", + "Grab the golden baked bread and drop it into the heavy black cooking skillet", + "Grab the golden baked bread and place it inside the medium black pan with handle", + "Pick up the medium bread with rounded sides and put it in the round cooking pan", + "Use the left arm to pick the soft square bread and put it in the medium black pan with handle", + "Use the left arm to pick the sponge-textured golden bread up for the black pan with curved edges", + "Place the golden brown bread from the table into the black pan with curved edges", + "Take the golden brown bread with the left arm and drop into the round pan with hole in handle", + "Take the golden brown bread and put it in the skillet with extended grip handle.", + "Grab the golden baked bread and stick it in the heavy black cooking skillet." + ], + "unseen": [ + "Pick the soft bread with golden edges up and place it in the black skillet", + "Use the left arm to move the soft bread with golden edges to the black skillet.", + "Grab the spongy golden brown bread and drop it into the black skillet.", + "Take the square bread with light spots and put it in the black skillet", + "Grab the square bread with light spots and place it in the black skillet", + "Grab the square bread with light spots and place it into the iron skillet for frying foods.", + "Pick up the spongy golden brown bread and drop it into the round cast-iron skillet", + "Grab the square bread with light spots and set it in the round cast-iron skillet", + "Use the left arm to grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Move the soft bread with golden edges to the black skillet using the left arm.", + "Pick the soft bread with golden edges up and place it in the black skillet", + "Use the left arm to move the spongy golden brown bread to the iron skillet for frying foods.", + "Grab the square bread with light spots and drop it into the iron skillet for frying foods.", + "Take the soft bread with golden edges and put it in the iron skillet for frying foods", + "Grab the spongy golden brown bread and place it in the iron skillet for frying foods", + "Grab the square bread with light spots and place it into the iron skillet for frying foods.", + "Pick up the spongy golden brown bread and drop it into the iron skillet for frying foods", + "Grab the square bread with light spots and set it in the round cast-iron skillet", + "Use the left arm to grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Move the spongy golden brown bread to the black skillet using the left arm.", + "Pick the spongy golden brown bread up and place it in the iron skillet for frying foods", + "Use the left arm to move the spongy golden brown bread to the black skillet.", + "Grab the soft bread with golden edges and drop it into the round cast-iron skillet.", + "Take the soft bread with golden edges and put it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it in the iron skillet for frying foods", + "Grab the spongy golden brown bread and place it into the round cast-iron skillet.", + "Pick up the square bread with light spots and drop it into the iron skillet for frying foods", + "Grab the square bread with light spots and set it in the black skillet", + "Use the left arm to grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Move the square bread with light spots to the iron skillet for frying foods using the left arm.", + "Pick the square bread with light spots up and place it in the iron skillet for frying foods", + "Use the left arm to move the spongy golden brown bread to the iron skillet for frying foods.", + "Grab the square bread with light spots and drop it into the round cast-iron skillet.", + "Take the soft bread with golden edges and put it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it in the black skillet", + "Grab the square bread with light spots and place it into the black skillet.", + "Pick up the soft bread with golden edges and drop it into the black skillet", + "Grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Use the left arm to grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Move the spongy golden brown bread to the round cast-iron skillet using the left arm.", + "Pick the soft bread with golden edges up and place it in the round cast-iron skillet", + "Use the left arm to move the soft bread with golden edges to the black skillet.", + "Grab the spongy golden brown bread and drop it into the black skillet.", + "Take the soft bread with golden edges and put it in the black skillet", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it into the iron skillet for frying foods.", + "Pick up the spongy golden brown bread and drop it into the round cast-iron skillet", + "Grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Use the left arm to grab the square bread with light spots and set it in the black skillet", + "Move the soft bread with golden edges to the iron skillet for frying foods using the left arm.", + "Pick the square bread with light spots up and place it in the black skillet", + "Use the left arm to move the spongy golden brown bread to the black skillet.", + "Grab the spongy golden brown bread and drop it into the black skillet.", + "Take the square bread with light spots and put it in the round cast-iron skillet", + "Grab the square bread with light spots and place it in the black skillet", + "Grab the square bread with light spots and place it into the round cast-iron skillet.", + "Pick up the spongy golden brown bread and drop it into the iron skillet for frying foods", + "Grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Use the left arm to grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Move the soft bread with golden edges to the black skillet using the left arm.", + "Pick the square bread with light spots up and place it in the black skillet", + "Use the left arm to move the soft bread with golden edges to the round cast-iron skillet.", + "Grab the spongy golden brown bread and drop it into the black skillet.", + "Take the square bread with light spots and put it in the iron skillet for frying foods", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it into the iron skillet for frying foods.", + "Pick up the spongy golden brown bread and drop it into the black skillet", + "Grab the square bread with light spots and set it in the black skillet", + "Use the left arm to grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Move the square bread with light spots to the iron skillet for frying foods using the left arm.", + "Pick the soft bread with golden edges up and place it in the black skillet", + "Use the left arm to move the square bread with light spots to the iron skillet for frying foods.", + "Grab the soft bread with golden edges and drop it into the round cast-iron skillet.", + "Take the soft bread with golden edges and put it in the black skillet", + "Grab the soft bread with golden edges and place it in the black skillet", + "Grab the soft bread with golden edges and place it into the round cast-iron skillet.", + "Pick up the soft bread with golden edges and drop it into the iron skillet for frying foods", + "Grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Use the left arm to grab the square bread with light spots and set it in the iron skillet for frying foods", + "Move the square bread with light spots to the round cast-iron skillet using the left arm.", + "Pick the spongy golden brown bread up and place it in the iron skillet for frying foods", + "Use the left arm to move the square bread with light spots to the black skillet.", + "Grab the square bread with light spots and drop it into the black skillet.", + "Take the square bread with light spots and put it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it in the black skillet", + "Grab the square bread with light spots and place it into the black skillet.", + "Pick up the spongy golden brown bread and drop it into the iron skillet for frying foods", + "Grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Use the left arm to grab the spongy golden brown bread and set it in the black skillet", + "Move the square bread with light spots to the black skillet using the left arm.", + "Pick the square bread with light spots up and place it in the iron skillet for frying foods", + "Use the left arm to move the spongy golden brown bread to the round cast-iron skillet.", + "Grab the soft bread with golden edges and drop it into the round cast-iron skillet.", + "Take the square bread with light spots and put it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it into the black skillet.", + "Pick up the square bread with light spots and drop it into the black skillet", + "Grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Use the left arm to grab the spongy golden brown bread and set it in the black skillet", + "Move the square bread with light spots to the black skillet using the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode35.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..670b3700d8738c700e61d08c898783d11027736d --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the sponge-textured golden bread and put it in the skillet for frying food.", + "Place the medium bread with rounded sides into the round skillet with handle using the left arm", + "Use the left arm to set the sponge-textured golden bread into the round skillet with open handle end.", + "Lift the rounded square loaf using the left arm and move it to the gray skillet for stovetop cooking", + "Pick the sponge-textured golden bread and set it into the round skillet with handle.", + "Take the square-shaped bread piece with the left arm and drop into the flat-bottom skillet", + "Grab the bread with soft texture and drop it into the skillet with black cooking surface", + "Use the left arm to pick the rounded square loaf up for the medium-sized frying skillet", + "Put the bread with soft texture into the metal skillet with comfortable grip.", + "Use the left arm to stick the golden brown bread into the black-surfaced skillet with gray sides.", + "Pick the square-shaped bread piece up using the left arm and drop it in the round skillet with handle.", + "Pick up the bread with soft texture with the left arm and drop it in the metal skillet", + "Use the left arm to grab the sponge-textured golden bread for the round skillet with handle", + "Use the left arm to take the fluffy baked bread and move it into the dark gray skillet.", + "Use the left arm to pick the medium bread with rounded sides for the skillet for frying food", + "Take the bread with rounded edges and place it inside the medium-sized frying skillet", + "Lift the fluffy baked bread and drop it into the skillet with black cooking surface", + "Grab the golden baked bread with the left arm and place in the skillet for frying food", + "Lift the golden brown bread and drop it into the metal skillet with comfortable grip.", + "Use the left arm to grab the bread with rounded edges for the black-surfaced skillet with gray sides", + "Use the left arm to grab the light brown porous bread and set it in the dark gray skillet.", + "Grab the fluffy baked bread using the left arm and place it in the skillet with black cooking surface", + "Grab the rounded square loaf and place it inside the black-surfaced skillet with gray sides.", + "Take the bread with soft texture and put it in the gray skillet for stovetop cooking.", + "Set the rounded square loaf into the skillet for frying food after grabbing", + "Take the bread with soft texture and set it into the black-surfaced skillet with gray sides", + "Pick up the square-shaped bread piece and place it in the smooth non-stick skillet.", + "Use the left arm to lift the sponge-textured golden bread and place it into the gray skillet for stovetop cooking.", + "Use the left arm to pick the soft square bread and place it into the round skillet with open handle end.", + "Grab the square-shaped bread piece from the table and set it in the metal skillet.", + "Put the soft square bread into the flat-bottom skillet after grabbing it", + "Use the left arm to move the bread with soft texture and set it into the black-surfaced skillet with gray sides.", + "Move the bread with rounded edges from table into the metal skillet with comfortable grip", + "Place the medium bread with rounded sides from the table into the medium-sized frying skillet", + "Move the rounded square loaf to the medium-sized frying skillet using the left arm", + "Pick the soft square bread off the table and place it in the flat-bottom skillet.", + "Grab the rounded square loaf and place it inside the metal skillet with comfortable grip", + "Use the left arm to pick the light brown porous bread and put it in the smooth non-stick skillet", + "Use the left arm to move the rounded square loaf into the medium-sized frying skillet", + "Grab the golden baked bread and stick it in the skillet with black cooking surface.", + "Use the left arm to place the golden baked bread into the dark gray skillet", + "Pick the golden brown bread with the left arm and set it in the dark gray skillet", + "Pick the light brown porous bread and transfer it to the smooth non-stick skillet", + "Pick up the golden brown bread and put it in the smooth non-stick skillet", + "Take the soft square bread off the table into the skillet with black cooking surface", + "Transfer the golden baked bread into the gray skillet for stovetop cooking from the table", + "Take the light brown porous bread and place it inside the metal skillet with comfortable grip", + "Place the medium bread with rounded sides into the skillet with black cooking surface with the left arm.", + "Move the bread with soft texture into the round skillet with open handle end from the table", + "Take the fluffy baked bread and drop it into the dark gray skillet.", + "Take the medium bread with rounded sides and put it in the flat-bottom skillet.", + "Place the bread with rounded edges into the skillet for frying food using the left arm", + "Use the left arm to set the fluffy baked bread into the round skillet with handle.", + "Lift the square-shaped bread piece using the left arm and move it to the gray skillet for stovetop cooking", + "Pick the rounded square loaf and set it into the dark gray skillet.", + "Take the golden brown bread with the left arm and drop into the flat-bottom skillet", + "Grab the sponge-textured golden bread and drop it into the round skillet with open handle end", + "Use the left arm to pick the soft square bread up for the round skillet with handle", + "Put the medium-sized bread piece into the flat-bottom skillet.", + "Use the left arm to stick the rounded square loaf into the dark gray skillet.", + "Pick the golden brown bread up using the left arm and drop it in the smooth non-stick skillet.", + "Pick up the medium bread with rounded sides with the left arm and drop it in the skillet with black cooking surface", + "Use the left arm to grab the fluffy baked bread for the medium-sized frying skillet", + "Use the left arm to take the bread with rounded edges and move it into the metal skillet with comfortable grip.", + "Use the left arm to pick the bread with soft texture for the round skillet with open handle end", + "Take the bread with soft texture and place it inside the dark gray skillet", + "Lift the bread with soft texture and drop it into the round skillet with open handle end", + "Grab the fluffy baked bread with the left arm and place in the medium-sized frying skillet", + "Lift the bread with soft texture and drop it into the smooth non-stick skillet.", + "Use the left arm to grab the bread with soft texture for the gray skillet for stovetop cooking", + "Use the left arm to grab the rounded square loaf and set it in the dark gray skillet.", + "Grab the fluffy baked bread using the left arm and place it in the skillet with black cooking surface", + "Grab the fluffy baked bread and place it inside the black-surfaced skillet with gray sides.", + "Take the fluffy baked bread and put it in the skillet with black cooking surface.", + "Set the sponge-textured golden bread into the dark gray skillet after grabbing", + "Take the light brown porous bread and set it into the medium-sized frying skillet", + "Pick up the golden baked bread and place it in the round skillet with handle.", + "Use the left arm to lift the golden baked bread and place it into the skillet with black cooking surface.", + "Use the left arm to pick the light brown porous bread and place it into the skillet for frying food.", + "Grab the sponge-textured golden bread from the table and set it in the skillet with black cooking surface.", + "Put the light brown porous bread into the round skillet with handle after grabbing it", + "Use the left arm to move the medium bread with rounded sides and set it into the dark gray skillet.", + "Move the light brown porous bread from table into the dark gray skillet", + "Place the medium bread with rounded sides from the table into the gray skillet for stovetop cooking", + "Move the bread with soft texture to the round skillet with handle using the left arm", + "Pick the medium bread with rounded sides off the table and place it in the black-surfaced skillet with gray sides.", + "Grab the medium-sized bread piece and place it inside the skillet for frying food", + "Use the left arm to pick the fluffy baked bread and put it in the skillet with black cooking surface", + "Use the left arm to move the fluffy baked bread into the dark gray skillet", + "Grab the bread with rounded edges and stick it in the dark gray skillet.", + "Use the left arm to place the medium-sized bread piece into the flat-bottom skillet", + "Pick the golden brown bread with the left arm and set it in the medium-sized frying skillet", + "Pick the golden brown bread and transfer it to the black-surfaced skillet with gray sides", + "Pick up the golden brown bread and put it in the skillet for frying food", + "Take the bread with rounded edges off the table into the metal skillet with comfortable grip", + "Transfer the soft square bread into the smooth non-stick skillet from the table", + "Take the light brown porous bread and place it inside the black-surfaced skillet with gray sides", + "Place the light brown porous bread into the skillet with black cooking surface with the left arm.", + "Move the fluffy baked bread into the metal skillet from the table", + "Take the medium-sized bread piece and drop it into the round skillet with handle." + ], + "unseen": [ + "Move the soft bread with golden edges to the dark skillet with shiny finish using the left arm.", + "Use the left arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Move the square bread with light spots to the dark skillet with shiny finish using the left arm.", + "Use the left arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing.", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the spongy golden brown bread to the versatile skillet for frying and sauteing.", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the left arm.", + "Use the left arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the left arm.", + "Use the left arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing.", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Use the left arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Move the soft bread with golden edges to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Pick up the square bread with light spots and drop it into the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Pick the square bread with light spots up and place it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the spongy golden brown bread to the versatile skillet for frying and sauteing.", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Pick up the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it in the versatile skillet for frying and sauteing", + "Pick the soft bread with golden edges up and place it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the spongy golden brown bread to the versatile skillet for frying and sauteing.", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the versatile skillet for frying and sauteing", + "Pick the square bread with light spots up and place it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Use the left arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Take the soft bread with golden edges and put it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Pick up the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Use the left arm to move the soft bread with golden edges to the dark skillet with shiny finish.", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the dark skillet with shiny finish using the left arm.", + "Use the left arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Take the spongy golden brown bread and put it in the versatile skillet for frying and sauteing" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode36.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..88fdab77d714439ec7528bd24ce45cb85b84e04c --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to move the soft bread and set it into the medium-sized frying skillet.", + "Move the golden bread loaf to the gray skillet for stovetop cooking using the left arm", + "Grab the light golden brown bread and place it inside the smooth non-stick skillet.", + "Use the left arm to pick the cuboid bread and put it in the medium-sized frying skillet", + "Use the left arm to grab the golden bread loaf for the skillet with black cooking surface", + "Use the left arm to take the doughy and soft bread and move it into the skillet with black cooking surface.", + "Place the soft bread from the table into the medium-sized frying skillet", + "Lift the light golden brown bread and drop it into the round skillet with handle.", + "Take the bread block with light patches and put it in the metal skillet.", + "Use the left arm to pick the bread loaf with bumpy surface and place it into the skillet for frying food.", + "Take the doughy and soft bread and put it in the flat-bottom skillet.", + "Lift the bread loaf with bumpy surface using the left arm and move it to the medium-sized frying skillet", + "Use the left arm to grab the bread loaf with bumpy surface and set it in the round skillet with open handle end.", + "Move the bread loaf with uneven edges from table into the dark gray skillet", + "Grab the golden bread and drop it into the metal skillet with comfortable grip", + "Set the cuboid bread into the smooth non-stick skillet after grabbing", + "Put the hand-sized bread block into the round skillet with open handle end.", + "Grab the bread block with light patches with the left arm and place in the skillet for frying food", + "Take the square-shaped bread and set it into the skillet with black cooking surface", + "Use the left arm to move the cuboid bread into the skillet for frying food", + "Grab the bread loaf with uneven edges and stick it in the skillet with black cooking surface.", + "Pick the doughy and soft bread up using the left arm and drop it in the gray skillet for stovetop cooking.", + "Take the golden bread loaf and drop it into the metal skillet with comfortable grip.", + "Transfer the golden bread loaf into the skillet for frying food from the table", + "Pick the square-shaped bread with the left arm and set it in the round skillet with open handle end", + "Take the bread loaf with bumpy surface and place it inside the round skillet with open handle end", + "Pick up the bread with rough texture and put it in the skillet for frying food", + "Grab the bread with rough texture using the left arm and place it in the skillet for frying food", + "Take the bread block with light patches off the table into the medium-sized frying skillet", + "Use the left arm to pick the bread loaf with uneven edges up for the skillet for frying food", + "Use the left arm to pick the soft bread for the smooth non-stick skillet", + "Pick up the bread with rough texture with the left arm and drop it in the round skillet with open handle end", + "Use the left arm to stick the bread with rough texture into the black-surfaced skillet with gray sides.", + "Grab the bread with rough texture from the table and set it in the metal skillet.", + "Grab the golden bread loaf and place it inside the dark gray skillet", + "Pick the bread loaf with uneven edges and set it into the metal skillet.", + "Take the doughy and soft bread and place it inside the dark gray skillet", + "Place the soft bread into the dark gray skillet using the left arm", + "Use the left arm to lift the soft bread and place it into the round skillet with open handle end.", + "Lift the bread loaf with bumpy surface and drop it into the dark gray skillet", + "Pick the bread loaf with uneven edges off the table and place it in the skillet with black cooking surface.", + "Take the bread loaf with uneven edges with the left arm and drop into the smooth non-stick skillet", + "Use the left arm to set the golden bread into the metal skillet with comfortable grip.", + "Move the hand-sized bread block into the flat-bottom skillet from the table", + "Use the left arm to place the bread block with light patches into the skillet with black cooking surface", + "Pick the bread with rough texture and transfer it to the smooth non-stick skillet", + "Place the doughy and soft bread into the metal skillet with the left arm.", + "Pick up the bread loaf with uneven edges and place it in the medium-sized frying skillet.", + "Put the light golden brown bread into the round skillet with handle after grabbing it", + "Use the left arm to grab the doughy and soft bread for the smooth non-stick skillet", + "Use the left arm to move the soft bread and set it into the dark gray skillet.", + "Move the light golden brown bread to the metal skillet with comfortable grip using the left arm", + "Grab the soft bread and place it inside the skillet for frying food.", + "Use the left arm to pick the golden bread and put it in the metal skillet with comfortable grip", + "Use the left arm to grab the bread block with light patches for the flat-bottom skillet", + "Use the left arm to take the bread with rough texture and move it into the gray skillet for stovetop cooking.", + "Place the doughy and soft bread from the table into the flat-bottom skillet", + "Lift the bread loaf with uneven edges and drop it into the round skillet with open handle end.", + "Take the doughy and soft bread and put it in the metal skillet with comfortable grip.", + "Use the left arm to pick the bread block with light patches and place it into the smooth non-stick skillet.", + "Take the light golden brown bread and put it in the gray skillet for stovetop cooking.", + "Lift the bread with rough texture using the left arm and move it to the skillet with black cooking surface", + "Use the left arm to grab the bread block with light patches and set it in the dark gray skillet.", + "Move the bread loaf with uneven edges from table into the skillet with black cooking surface", + "Grab the soft bread and drop it into the medium-sized frying skillet", + "Set the hand-sized bread block into the smooth non-stick skillet after grabbing", + "Put the bread block with light patches into the flat-bottom skillet.", + "Grab the hand-sized bread block with the left arm and place in the skillet for frying food", + "Take the doughy and soft bread and set it into the round skillet with handle", + "Use the left arm to move the square-shaped bread into the round skillet with handle", + "Grab the golden bread loaf and stick it in the skillet with black cooking surface.", + "Pick the bread block with light patches up using the left arm and drop it in the black-surfaced skillet with gray sides.", + "Take the bread with rough texture and drop it into the flat-bottom skillet.", + "Transfer the hand-sized bread block into the gray skillet for stovetop cooking from the table", + "Pick the doughy and soft bread with the left arm and set it in the smooth non-stick skillet", + "Take the doughy and soft bread and place it inside the gray skillet for stovetop cooking", + "Pick up the cuboid bread and put it in the gray skillet for stovetop cooking", + "Grab the light golden brown bread using the left arm and place it in the smooth non-stick skillet", + "Take the light golden brown bread off the table into the smooth non-stick skillet", + "Use the left arm to pick the bread with rough texture up for the skillet for frying food", + "Use the left arm to pick the doughy and soft bread for the skillet for frying food", + "Pick up the cuboid bread with the left arm and drop it in the medium-sized frying skillet", + "Use the left arm to stick the golden bread into the metal skillet with comfortable grip.", + "Grab the light golden brown bread from the table and set it in the flat-bottom skillet.", + "Grab the soft bread and place it inside the metal skillet", + "Pick the square-shaped bread and set it into the black-surfaced skillet with gray sides.", + "Take the square-shaped bread and place it inside the medium-sized frying skillet", + "Place the light golden brown bread into the round skillet with handle using the left arm", + "Use the left arm to lift the cuboid bread and place it into the dark gray skillet.", + "Lift the cuboid bread and drop it into the black-surfaced skillet with gray sides", + "Pick the soft bread off the table and place it in the medium-sized frying skillet.", + "Take the bread with rough texture with the left arm and drop into the flat-bottom skillet", + "Use the left arm to set the cuboid bread into the round skillet with handle.", + "Move the doughy and soft bread into the metal skillet with comfortable grip from the table", + "Use the left arm to place the bread loaf with bumpy surface into the dark gray skillet", + "Pick the bread with rough texture and transfer it to the gray skillet for stovetop cooking", + "Place the cuboid bread into the metal skillet with comfortable grip with the left arm.", + "Pick up the square-shaped bread and place it in the round skillet with handle.", + "Put the square-shaped bread into the medium-sized frying skillet after grabbing it", + "Use the left arm to grab the bread with rough texture for the smooth non-stick skillet" + ], + "unseen": [ + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Use the left arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Use the left arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the left arm.", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Use the left arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode37.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..9d79c29626cb6bab2c58da3c26d25dd46a11378a --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the sponge-textured golden bread with the left arm and set it in the round cooking pan", + "Place the bread with soft texture into the medium black pan with handle with the left arm.", + "Pick the soft square bread and set it into the smooth round pan made of iron.", + "Pick up the light brown porous bread with the left arm and drop it in the round cooking pan", + "Put the square-shaped bread piece into the flat-bottomed skillet with long handle after grabbing it", + "Use the left arm to move the sponge-textured golden bread into the black pan with curved edges", + "Lift the golden brown bread and drop it into the medium black pan with handle.", + "Transfer the golden brown bread into the versatile skillet for stovetop cooking from the table", + "Pick up the bread with soft texture and place it in the black skillet with smooth base.", + "Use the left arm to pick the medium-sized bread piece for the round cooking pan", + "Move the golden brown bread from table into the versatile skillet for stovetop cooking", + "Lift the golden baked bread using the left arm and move it to the dark pan with sturdy grip", + "Take the medium bread with rounded sides with the left arm and drop into the black pan with curved edges", + "Grab the fluffy baked bread and stick it in the versatile skillet for stovetop cooking.", + "Use the left arm to stick the sponge-textured golden bread into the flat-bottomed skillet with long handle.", + "Pick the medium-sized bread piece off the table and place it in the round cooking pan.", + "Use the left arm to move the sponge-textured golden bread and set it into the heavy black cooking skillet.", + "Use the left arm to lift the golden baked bread and place it into the heavy black cooking skillet.", + "Move the bread with soft texture to the dark pan with sturdy grip using the left arm", + "Grab the rounded square loaf with the left arm and place in the round cooking pan", + "Use the left arm to take the soft square bread and move it into the medium black pan with handle.", + "Take the medium-sized bread piece and drop it into the heavy black cooking skillet.", + "Move the fluffy baked bread into the flat-bottomed skillet with long handle from the table", + "Grab the bread with rounded edges from the table and set it in the smooth round pan made of iron.", + "Use the left arm to pick the rounded square loaf and place it into the solid dark-colored round pan.", + "Take the light brown porous bread and put it in the skillet with extended grip handle.", + "Grab the rounded square loaf and place it inside the heavy black cooking skillet", + "Put the light brown porous bread into the heavy black cooking skillet.", + "Take the medium bread with rounded sides and place it inside the smooth round pan made of iron", + "Use the left arm to set the soft square bread into the black skillet with smooth base.", + "Take the soft square bread off the table into the black pan with curved edges", + "Use the left arm to grab the medium bread with rounded sides for the flat-bottomed skillet with long handle", + "Take the golden brown bread and set it into the solid dark-colored round pan", + "Place the bread with soft texture from the table into the versatile skillet for stovetop cooking", + "Use the left arm to grab the medium-sized bread piece and set it in the round pan with hole in handle.", + "Set the medium-sized bread piece into the versatile skillet for stovetop cooking after grabbing", + "Use the left arm to pick the light brown porous bread and put it in the dark pan with sturdy grip", + "Grab the sponge-textured golden bread using the left arm and place it in the skillet with extended grip handle", + "Lift the rounded square loaf and drop it into the medium black pan with handle", + "Grab the bread with soft texture and place it inside the smooth round pan made of iron.", + "Take the medium bread with rounded sides and put it in the versatile skillet for stovetop cooking.", + "Take the fluffy baked bread and place it inside the black pan with curved edges", + "Place the fluffy baked bread into the smooth round pan made of iron using the left arm", + "Grab the golden baked bread and drop it into the black skillet with smooth base", + "Pick the light brown porous bread up using the left arm and drop it in the black pan with curved edges.", + "Use the left arm to pick the square-shaped bread piece up for the dark pan with sturdy grip", + "Pick up the bread with rounded edges and put it in the solid dark-colored round pan", + "Pick the fluffy baked bread and transfer it to the skillet with extended grip handle", + "Use the left arm to place the golden baked bread into the round pan with hole in handle", + "Use the left arm to grab the medium-sized bread piece for the smooth round pan made of iron", + "Pick the soft square bread with the left arm and set it in the flat-bottomed skillet with long handle", + "Place the bread with soft texture into the black skillet with smooth base with the left arm.", + "Pick the bread with soft texture and set it into the round cooking pan.", + "Pick up the sponge-textured golden bread with the left arm and drop it in the solid dark-colored round pan", + "Put the sponge-textured golden bread into the round pan with hole in handle after grabbing it", + "Use the left arm to move the golden baked bread into the skillet with extended grip handle", + "Lift the medium-sized bread piece and drop it into the flat-bottomed skillet with long handle.", + "Transfer the rounded square loaf into the black pan with curved edges from the table", + "Pick up the rounded square loaf and place it in the smooth round pan made of iron.", + "Use the left arm to pick the square-shaped bread piece for the black skillet with smooth base", + "Move the golden brown bread from table into the dark pan with sturdy grip", + "Lift the bread with soft texture using the left arm and move it to the heavy black cooking skillet", + "Take the sponge-textured golden bread with the left arm and drop into the skillet with extended grip handle", + "Grab the sponge-textured golden bread and stick it in the solid dark-colored round pan.", + "Use the left arm to stick the bread with soft texture into the medium black pan with handle.", + "Pick the fluffy baked bread off the table and place it in the heavy black cooking skillet.", + "Use the left arm to move the medium bread with rounded sides and set it into the medium black pan with handle.", + "Use the left arm to lift the medium-sized bread piece and place it into the smooth round pan made of iron.", + "Move the golden baked bread to the round cooking pan using the left arm", + "Grab the golden brown bread with the left arm and place in the black pan with curved edges", + "Use the left arm to take the medium-sized bread piece and move it into the black pan with curved edges.", + "Take the fluffy baked bread and drop it into the versatile skillet for stovetop cooking.", + "Move the golden brown bread into the versatile skillet for stovetop cooking from the table", + "Grab the rounded square loaf from the table and set it in the round cooking pan.", + "Use the left arm to pick the medium-sized bread piece and place it into the heavy black cooking skillet.", + "Take the fluffy baked bread and put it in the round pan with hole in handle.", + "Grab the bread with soft texture and place it inside the round cooking pan", + "Put the soft square bread into the versatile skillet for stovetop cooking.", + "Take the medium bread with rounded sides and place it inside the round pan with hole in handle", + "Use the left arm to set the fluffy baked bread into the round cooking pan.", + "Take the medium bread with rounded sides off the table into the smooth round pan made of iron", + "Use the left arm to grab the soft square bread for the smooth round pan made of iron", + "Take the rounded square loaf and set it into the heavy black cooking skillet", + "Place the medium-sized bread piece from the table into the versatile skillet for stovetop cooking", + "Use the left arm to grab the rounded square loaf and set it in the round pan with hole in handle.", + "Set the medium-sized bread piece into the versatile skillet for stovetop cooking after grabbing", + "Use the left arm to pick the rounded square loaf and put it in the black skillet with smooth base", + "Grab the golden brown bread using the left arm and place it in the smooth round pan made of iron", + "Lift the square-shaped bread piece and drop it into the black pan with curved edges", + "Grab the rounded square loaf and place it inside the black pan with curved edges.", + "Take the golden baked bread and put it in the medium black pan with handle.", + "Take the square-shaped bread piece and place it inside the skillet with extended grip handle", + "Place the square-shaped bread piece into the skillet with extended grip handle using the left arm", + "Grab the soft square bread and drop it into the solid dark-colored round pan", + "Pick the rounded square loaf up using the left arm and drop it in the round pan with hole in handle.", + "Use the left arm to pick the light brown porous bread up for the versatile skillet for stovetop cooking", + "Pick up the fluffy baked bread and put it in the round cooking pan", + "Pick the soft square bread and transfer it to the versatile skillet for stovetop cooking", + "Use the left arm to place the bread with soft texture into the black skillet with smooth base", + "Use the left arm to grab the square-shaped bread piece for the smooth round pan made of iron" + ], + "unseen": [ + "Use the left arm to move the square bread with light spots to the black skillet.", + "Grab the soft bread with golden edges and drop it into the iron skillet for frying foods.", + "Use the left arm to grab the square bread with light spots and set it in the iron skillet for frying foods", + "Grab the soft bread with golden edges and place it in the black skillet", + "Grab the spongy golden brown bread and place it into the round cast-iron skillet.", + "Move the square bread with light spots to the round cast-iron skillet using the left arm.", + "Pick the square bread with light spots up and place it in the round cast-iron skillet", + "Grab the spongy golden brown bread and set it in the black skillet", + "Take the square bread with light spots and put it in the round cast-iron skillet", + "Pick up the spongy golden brown bread and drop it into the round cast-iron skillet", + "Use the left arm to move the square bread with light spots to the iron skillet for frying foods.", + "Grab the soft bread with golden edges and drop it into the iron skillet for frying foods.", + "Use the left arm to grab the square bread with light spots and set it in the black skillet", + "Grab the square bread with light spots and place it in the iron skillet for frying foods", + "Grab the square bread with light spots and place it into the round cast-iron skillet.", + "Move the square bread with light spots to the iron skillet for frying foods using the left arm.", + "Pick the soft bread with golden edges up and place it in the iron skillet for frying foods", + "Grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Take the square bread with light spots and put it in the black skillet", + "Pick up the soft bread with golden edges and drop it into the iron skillet for frying foods", + "Use the left arm to move the square bread with light spots to the round cast-iron skillet.", + "Grab the spongy golden brown bread and drop it into the iron skillet for frying foods.", + "Use the left arm to grab the spongy golden brown bread and set it in the black skillet", + "Grab the soft bread with golden edges and place it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it into the black skillet.", + "Move the spongy golden brown bread to the round cast-iron skillet using the left arm.", + "Pick the soft bread with golden edges up and place it in the black skillet", + "Grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Take the spongy golden brown bread and put it in the iron skillet for frying foods", + "Pick up the square bread with light spots and drop it into the iron skillet for frying foods", + "Use the left arm to move the spongy golden brown bread to the round cast-iron skillet.", + "Grab the soft bread with golden edges and drop it into the black skillet.", + "Use the left arm to grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it in the round cast-iron skillet", + "Grab the square bread with light spots and place it into the black skillet.", + "Move the soft bread with golden edges to the black skillet using the left arm.", + "Pick the spongy golden brown bread up and place it in the iron skillet for frying foods", + "Grab the soft bread with golden edges and set it in the black skillet", + "Take the square bread with light spots and put it in the round cast-iron skillet", + "Pick up the spongy golden brown bread and drop it into the black skillet", + "Use the left arm to move the soft bread with golden edges to the round cast-iron skillet.", + "Grab the soft bread with golden edges and drop it into the round cast-iron skillet.", + "Use the left arm to grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it in the iron skillet for frying foods", + "Grab the soft bread with golden edges and place it into the black skillet.", + "Move the square bread with light spots to the iron skillet for frying foods using the left arm.", + "Pick the soft bread with golden edges up and place it in the iron skillet for frying foods", + "Grab the square bread with light spots and set it in the round cast-iron skillet", + "Take the square bread with light spots and put it in the round cast-iron skillet", + "Pick up the soft bread with golden edges and drop it into the round cast-iron skillet", + "Use the left arm to move the soft bread with golden edges to the black skillet.", + "Grab the square bread with light spots and drop it into the round cast-iron skillet.", + "Use the left arm to grab the square bread with light spots and set it in the iron skillet for frying foods", + "Grab the soft bread with golden edges and place it in the round cast-iron skillet", + "Grab the square bread with light spots and place it into the round cast-iron skillet.", + "Move the square bread with light spots to the round cast-iron skillet using the left arm.", + "Pick the spongy golden brown bread up and place it in the round cast-iron skillet", + "Grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Take the square bread with light spots and put it in the iron skillet for frying foods", + "Pick up the spongy golden brown bread and drop it into the black skillet", + "Use the left arm to move the spongy golden brown bread to the round cast-iron skillet.", + "Grab the soft bread with golden edges and drop it into the round cast-iron skillet.", + "Use the left arm to grab the spongy golden brown bread and set it in the black skillet", + "Grab the spongy golden brown bread and place it in the black skillet", + "Grab the square bread with light spots and place it into the iron skillet for frying foods.", + "Move the spongy golden brown bread to the iron skillet for frying foods using the left arm.", + "Pick the square bread with light spots up and place it in the round cast-iron skillet", + "Grab the square bread with light spots and set it in the iron skillet for frying foods", + "Take the soft bread with golden edges and put it in the round cast-iron skillet", + "Pick up the spongy golden brown bread and drop it into the black skillet", + "Use the left arm to move the square bread with light spots to the black skillet.", + "Grab the spongy golden brown bread and drop it into the black skillet.", + "Use the left arm to grab the square bread with light spots and set it in the round cast-iron skillet", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it into the black skillet.", + "Move the spongy golden brown bread to the round cast-iron skillet using the left arm.", + "Pick the square bread with light spots up and place it in the round cast-iron skillet", + "Grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Take the spongy golden brown bread and put it in the iron skillet for frying foods", + "Pick up the spongy golden brown bread and drop it into the iron skillet for frying foods", + "Use the left arm to move the soft bread with golden edges to the black skillet.", + "Grab the soft bread with golden edges and drop it into the round cast-iron skillet.", + "Use the left arm to grab the square bread with light spots and set it in the round cast-iron skillet", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it into the black skillet.", + "Move the soft bread with golden edges to the round cast-iron skillet using the left arm.", + "Pick the spongy golden brown bread up and place it in the iron skillet for frying foods", + "Grab the spongy golden brown bread and set it in the black skillet", + "Take the square bread with light spots and put it in the iron skillet for frying foods", + "Pick up the soft bread with golden edges and drop it into the black skillet", + "Use the left arm to move the soft bread with golden edges to the black skillet.", + "Grab the square bread with light spots and drop it into the black skillet.", + "Use the left arm to grab the square bread with light spots and set it in the black skillet", + "Grab the square bread with light spots and place it in the black skillet", + "Grab the square bread with light spots and place it into the round cast-iron skillet.", + "Move the soft bread with golden edges to the black skillet using the left arm.", + "Pick the spongy golden brown bread up and place it in the round cast-iron skillet", + "Grab the soft bread with golden edges and set it in the black skillet", + "Take the soft bread with golden edges and put it in the round cast-iron skillet", + "Pick up the soft bread with golden edges and drop it into the black skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode38.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..1311875539da649a34737ea122f726fa6b2accee --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bread block with light patches and place it inside the flat-bottom skillet", + "Grab the square-shaped bread and stick it in the metal skillet with comfortable grip.", + "Use the right arm to grab the bread loaf with uneven edges for the dark gray skillet", + "Move the square-shaped bread from table into the dark gray skillet", + "Take the hand-sized bread block and put it in the medium-sized frying skillet.", + "Place the bread loaf with uneven edges into the dark gray skillet with the right arm.", + "Pick the doughy and soft bread off the table and place it in the black-surfaced skillet with gray sides.", + "Use the right arm to set the golden bread into the flat-bottom skillet.", + "Grab the doughy and soft bread and drop it into the skillet for frying food", + "Take the square-shaped bread and place it inside the round skillet with handle", + "Move the soft bread into the round skillet with handle from the table", + "Take the doughy and soft bread off the table into the skillet with black cooking surface", + "Pick the square-shaped bread with the right arm and set it in the medium-sized frying skillet", + "Grab the bread loaf with bumpy surface using the right arm and place it in the metal skillet with comfortable grip", + "Use the right arm to pick the soft bread and put it in the dark gray skillet", + "Pick the soft bread up using the right arm and drop it in the metal skillet.", + "Put the light golden brown bread into the metal skillet with comfortable grip.", + "Use the right arm to grab the hand-sized bread block for the smooth non-stick skillet", + "Use the right arm to lift the bread block with light patches and place it into the gray skillet for stovetop cooking.", + "Pick up the doughy and soft bread with the right arm and drop it in the dark gray skillet", + "Use the right arm to move the hand-sized bread block into the skillet for frying food", + "Pick the golden bread and transfer it to the metal skillet", + "Take the bread loaf with uneven edges and put it in the gray skillet for stovetop cooking.", + "Use the right arm to pick the golden bread up for the round skillet with handle", + "Transfer the doughy and soft bread into the metal skillet from the table", + "Lift the soft bread and drop it into the gray skillet for stovetop cooking.", + "Take the bread block with light patches and set it into the medium-sized frying skillet", + "Lift the golden bread using the right arm and move it to the medium-sized frying skillet", + "Use the right arm to place the hand-sized bread block into the medium-sized frying skillet", + "Set the bread with rough texture into the medium-sized frying skillet after grabbing", + "Use the right arm to grab the light golden brown bread and set it in the round skillet with open handle end.", + "Put the hand-sized bread block into the skillet with black cooking surface after grabbing it", + "Use the right arm to take the golden bread loaf and move it into the flat-bottom skillet.", + "Take the bread loaf with uneven edges and drop it into the skillet with black cooking surface.", + "Grab the bread loaf with uneven edges with the right arm and place in the round skillet with open handle end", + "Grab the soft bread from the table and set it in the metal skillet.", + "Take the light golden brown bread with the right arm and drop into the dark gray skillet", + "Use the right arm to move the bread loaf with uneven edges and set it into the skillet for frying food.", + "Lift the bread loaf with bumpy surface and drop it into the metal skillet", + "Take the soft bread and place it inside the smooth non-stick skillet", + "Place the doughy and soft bread into the dark gray skillet using the right arm", + "Pick the hand-sized bread block and set it into the dark gray skillet.", + "Move the doughy and soft bread to the round skillet with open handle end using the right arm", + "Grab the square-shaped bread and place it inside the skillet with black cooking surface.", + "Place the bread loaf with uneven edges from the table into the skillet for frying food", + "Use the right arm to pick the golden bread for the round skillet with open handle end", + "Use the right arm to stick the cuboid bread into the black-surfaced skillet with gray sides.", + "Pick up the bread with rough texture and put it in the skillet with black cooking surface", + "Use the right arm to pick the light golden brown bread and place it into the black-surfaced skillet with gray sides.", + "Pick up the hand-sized bread block and place it in the medium-sized frying skillet.", + "Grab the doughy and soft bread and place it inside the flat-bottom skillet", + "Grab the bread loaf with bumpy surface and stick it in the gray skillet for stovetop cooking.", + "Use the right arm to grab the bread with rough texture for the black-surfaced skillet with gray sides", + "Move the golden bread loaf from table into the round skillet with open handle end", + "Take the golden bread loaf and put it in the flat-bottom skillet.", + "Place the soft bread into the smooth non-stick skillet with the right arm.", + "Pick the soft bread off the table and place it in the smooth non-stick skillet.", + "Use the right arm to set the bread block with light patches into the dark gray skillet.", + "Grab the soft bread and drop it into the metal skillet with comfortable grip", + "Take the bread block with light patches and place it inside the flat-bottom skillet", + "Move the bread loaf with bumpy surface into the skillet with black cooking surface from the table", + "Take the bread loaf with uneven edges off the table into the dark gray skillet", + "Pick the bread loaf with uneven edges with the right arm and set it in the metal skillet with comfortable grip", + "Grab the soft bread using the right arm and place it in the skillet with black cooking surface", + "Use the right arm to pick the soft bread and put it in the flat-bottom skillet", + "Pick the square-shaped bread up using the right arm and drop it in the dark gray skillet.", + "Put the golden bread loaf into the skillet for frying food.", + "Use the right arm to grab the golden bread loaf for the black-surfaced skillet with gray sides", + "Use the right arm to lift the light golden brown bread and place it into the gray skillet for stovetop cooking.", + "Pick up the bread with rough texture with the right arm and drop it in the gray skillet for stovetop cooking", + "Use the right arm to move the golden bread loaf into the round skillet with handle", + "Pick the bread block with light patches and transfer it to the medium-sized frying skillet", + "Take the doughy and soft bread and put it in the metal skillet with comfortable grip.", + "Use the right arm to pick the soft bread up for the black-surfaced skillet with gray sides", + "Transfer the bread block with light patches into the round skillet with open handle end from the table", + "Lift the bread loaf with uneven edges and drop it into the skillet with black cooking surface.", + "Take the bread loaf with bumpy surface and set it into the flat-bottom skillet", + "Lift the cuboid bread using the right arm and move it to the metal skillet with comfortable grip", + "Use the right arm to place the cuboid bread into the round skillet with open handle end", + "Set the light golden brown bread into the metal skillet after grabbing", + "Use the right arm to grab the bread loaf with uneven edges and set it in the round skillet with open handle end.", + "Put the golden bread into the skillet with black cooking surface after grabbing it", + "Use the right arm to take the light golden brown bread and move it into the dark gray skillet.", + "Take the doughy and soft bread and drop it into the dark gray skillet.", + "Grab the cuboid bread with the right arm and place in the medium-sized frying skillet", + "Grab the bread loaf with bumpy surface from the table and set it in the black-surfaced skillet with gray sides.", + "Take the hand-sized bread block with the right arm and drop into the gray skillet for stovetop cooking", + "Use the right arm to move the soft bread and set it into the skillet with black cooking surface.", + "Lift the cuboid bread and drop it into the round skillet with handle", + "Take the bread with rough texture and place it inside the skillet with black cooking surface", + "Place the bread loaf with uneven edges into the metal skillet with comfortable grip using the right arm", + "Pick the soft bread and set it into the dark gray skillet.", + "Move the golden bread loaf to the gray skillet for stovetop cooking using the right arm", + "Grab the golden bread and place it inside the medium-sized frying skillet.", + "Place the soft bread from the table into the black-surfaced skillet with gray sides", + "Use the right arm to pick the bread loaf with uneven edges for the dark gray skillet", + "Use the right arm to stick the bread loaf with uneven edges into the round skillet with handle.", + "Pick up the soft bread and put it in the smooth non-stick skillet", + "Use the right arm to pick the bread loaf with bumpy surface and place it into the gray skillet for stovetop cooking.", + "Pick up the golden bread loaf and place it in the metal skillet." + ], + "unseen": [ + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the right arm.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Use the right arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Use the right arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Use the right arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Use the right arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Use the right arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Use the right arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the right arm.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Use the right arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the right arm.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode39.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..04b6d870d0556ea7c442a4aceb6a8c6c507b6aae --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the bread with split top and set it into the medium-sized frying skillet", + "Grab the bread with golden-brown crust with the right arm and place in the smooth non-stick skillet", + "Take the hand-sized oval loaf and put it in the round skillet with handle.", + "Use the right arm to pick the light brown bread with ridges and place it into the round skillet with open handle end.", + "Place the bread with warm golden color into the gray skillet for stovetop cooking using the right arm", + "Grab the bread with golden-brown crust using the right arm and place it in the round skillet with open handle end", + "Move the soft brown bread to the gray skillet for stovetop cooking using the right arm", + "Grab the golden bread loaf and drop it into the dark gray skillet", + "Pick the bread with golden-brown crust and set it into the skillet for frying food.", + "Use the right arm to take the small golden brown bread and move it into the metal skillet with comfortable grip.", + "Use the right arm to place the soft brown bread into the medium-sized frying skillet", + "Grab the hand-sized oval loaf and place it inside the black-surfaced skillet with gray sides", + "Grab the bread with golden-brown crust and place it inside the medium-sized frying skillet.", + "Use the right arm to grab the light brown loaf with smooth sides for the flat-bottom skillet", + "Use the right arm to move the light brown bread with ridges and set it into the gray skillet for stovetop cooking.", + "Pick the brown loaf and transfer it to the medium-sized frying skillet", + "Use the right arm to set the small loaf with curved top into the skillet with black cooking surface.", + "Take the hand-sized oval loaf with the right arm and drop into the smooth non-stick skillet", + "Pick up the soft brown bread with the right arm and drop it in the gray skillet for stovetop cooking", + "Take the bread with golden-brown crust and drop it into the smooth non-stick skillet.", + "Use the right arm to move the smooth loaf with rounded edges into the black-surfaced skillet with gray sides", + "Set the golden bread loaf into the dark gray skillet after grabbing", + "Use the right arm to lift the hand-sized oval loaf and place it into the skillet for frying food.", + "Lift the golden bread loaf and drop it into the gray skillet for stovetop cooking.", + "Pick up the bread with split top and place it in the metal skillet with comfortable grip.", + "Transfer the small golden brown bread into the black-surfaced skillet with gray sides from the table", + "Lift the bread with split top using the right arm and move it to the metal skillet with comfortable grip", + "Grab the small golden brown bread and stick it in the black-surfaced skillet with gray sides.", + "Use the right arm to grab the hand-sized oval loaf for the black-surfaced skillet with gray sides", + "Place the soft brown bread into the smooth non-stick skillet with the right arm.", + "Move the golden bread loaf from table into the black-surfaced skillet with gray sides", + "Use the right arm to pick the smooth loaf with rounded edges for the gray skillet for stovetop cooking", + "Take the smooth loaf with rounded edges and place it inside the dark gray skillet", + "Pick the small loaf with curved top with the right arm and set it in the smooth non-stick skillet", + "Take the brown loaf off the table into the smooth non-stick skillet", + "Pick the smooth loaf with rounded edges up using the right arm and drop it in the round skillet with open handle end.", + "Put the bread with warm golden color into the skillet with black cooking surface after grabbing it", + "Use the right arm to grab the soft brown bread and set it in the medium-sized frying skillet.", + "Take the small loaf with curved top and put it in the metal skillet.", + "Place the smooth loaf with rounded edges from the table into the smooth non-stick skillet", + "Lift the brown loaf and drop it into the skillet for frying food", + "Pick up the brown loaf and put it in the medium-sized frying skillet", + "Use the right arm to pick the hand-sized oval loaf up for the flat-bottom skillet", + "Grab the small golden brown bread from the table and set it in the round skillet with open handle end.", + "Put the golden bread loaf into the dark gray skillet.", + "Use the right arm to pick the small loaf with curved top and put it in the medium-sized frying skillet", + "Move the bread with warm golden color into the metal skillet with comfortable grip from the table", + "Use the right arm to stick the golden bread loaf into the round skillet with open handle end.", + "Take the smooth loaf with rounded edges and place it inside the round skillet with handle", + "Pick the hand-sized oval loaf off the table and place it in the smooth non-stick skillet.", + "Take the hand-sized oval loaf and set it into the round skillet with handle", + "Grab the bread with split top with the right arm and place in the metal skillet with comfortable grip", + "Take the smooth loaf with rounded edges and put it in the medium-sized frying skillet.", + "Use the right arm to pick the light brown bread with ridges and place it into the black-surfaced skillet with gray sides.", + "Place the hand-sized oval loaf into the black-surfaced skillet with gray sides using the right arm", + "Grab the light brown loaf with smooth sides using the right arm and place it in the metal skillet", + "Move the bread with split top to the metal skillet using the right arm", + "Grab the smooth loaf with rounded edges and drop it into the smooth non-stick skillet", + "Pick the small golden brown bread and set it into the smooth non-stick skillet.", + "Use the right arm to take the smooth loaf with rounded edges and move it into the skillet for frying food.", + "Use the right arm to place the bread with split top into the medium-sized frying skillet", + "Grab the light brown loaf with smooth sides and place it inside the dark gray skillet", + "Grab the bread with golden-brown crust and place it inside the round skillet with open handle end.", + "Use the right arm to grab the small loaf with curved top for the medium-sized frying skillet", + "Use the right arm to move the hand-sized oval loaf and set it into the black-surfaced skillet with gray sides.", + "Pick the light brown loaf with smooth sides and transfer it to the skillet for frying food", + "Use the right arm to set the hand-sized oval loaf into the round skillet with open handle end.", + "Take the small golden brown bread with the right arm and drop into the metal skillet", + "Pick up the soft brown bread with the right arm and drop it in the skillet for frying food", + "Take the hand-sized oval loaf and drop it into the smooth non-stick skillet.", + "Use the right arm to move the small loaf with curved top into the smooth non-stick skillet", + "Set the bread with warm golden color into the flat-bottom skillet after grabbing", + "Use the right arm to lift the soft brown bread and place it into the medium-sized frying skillet.", + "Lift the small loaf with curved top and drop it into the black-surfaced skillet with gray sides.", + "Pick up the smooth loaf with rounded edges and place it in the round skillet with handle.", + "Transfer the light brown loaf with smooth sides into the gray skillet for stovetop cooking from the table", + "Lift the small loaf with curved top using the right arm and move it to the skillet with black cooking surface", + "Grab the hand-sized oval loaf and stick it in the dark gray skillet.", + "Use the right arm to grab the bread with split top for the round skillet with handle", + "Place the bread with golden-brown crust into the round skillet with handle with the right arm.", + "Move the light brown bread with ridges from table into the flat-bottom skillet", + "Use the right arm to pick the bread with warm golden color for the gray skillet for stovetop cooking", + "Take the soft brown bread and place it inside the skillet for frying food", + "Pick the bread with warm golden color with the right arm and set it in the skillet for frying food", + "Take the bread with golden-brown crust off the table into the medium-sized frying skillet", + "Pick the small golden brown bread up using the right arm and drop it in the skillet with black cooking surface.", + "Put the soft brown bread into the dark gray skillet after grabbing it", + "Use the right arm to grab the soft brown bread and set it in the medium-sized frying skillet.", + "Take the bread with warm golden color and put it in the smooth non-stick skillet.", + "Place the bread with golden-brown crust from the table into the round skillet with open handle end", + "Lift the brown loaf and drop it into the metal skillet with comfortable grip", + "Pick up the bread with warm golden color and put it in the metal skillet", + "Use the right arm to pick the golden bread loaf up for the medium-sized frying skillet", + "Grab the light brown loaf with smooth sides from the table and set it in the skillet with black cooking surface.", + "Put the bread with warm golden color into the round skillet with open handle end.", + "Use the right arm to pick the soft brown bread and put it in the skillet for frying food", + "Move the smooth loaf with rounded edges into the black-surfaced skillet with gray sides from the table", + "Use the right arm to stick the bread with split top into the black-surfaced skillet with gray sides.", + "Take the brown loaf and place it inside the metal skillet", + "Pick the soft brown bread off the table and place it in the metal skillet." + ], + "unseen": [ + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Use the right arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Move the oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Move the oval bread to the dark skillet with shiny finish using the right arm.", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Use the right arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the rounded oval bread and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Use the right arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Move the oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Use the right arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Move the oval bread to the dark skillet with shiny finish using the right arm.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the rounded oval bread and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Take the oval-shaped soft bread and put it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode4.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..522c5db871b107853093c1929f3f5625628bfa5b --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the soft bread and set it in the metal skillet.", + "Grab the cuboid bread and place it inside the metal skillet.", + "Put the golden bread loaf into the smooth non-stick skillet.", + "Move the cuboid bread from table into the round skillet with open handle end", + "Pick the bread loaf with bumpy surface off the table and place it in the black-surfaced skillet with gray sides.", + "Put the golden bread into the round skillet with open handle end after grabbing it", + "Move the bread loaf with uneven edges into the medium-sized frying skillet from the table", + "Use the right arm to place the cuboid bread into the skillet with black cooking surface", + "Take the soft bread and set it into the skillet with black cooking surface", + "Take the light golden brown bread with the right arm and drop into the skillet for frying food", + "Transfer the bread with rough texture into the flat-bottom skillet from the table", + "Grab the bread with rough texture and stick it in the flat-bottom skillet.", + "Use the right arm to lift the bread loaf with uneven edges and place it into the flat-bottom skillet.", + "Grab the light golden brown bread with the right arm and place in the smooth non-stick skillet", + "Pick the bread block with light patches with the right arm and set it in the metal skillet with comfortable grip", + "Use the right arm to grab the bread block with light patches for the dark gray skillet", + "Use the right arm to move the hand-sized bread block into the medium-sized frying skillet", + "Use the right arm to pick the doughy and soft bread and put it in the skillet for frying food", + "Use the right arm to pick the cuboid bread and place it into the metal skillet with comfortable grip.", + "Lift the golden bread loaf and drop it into the skillet with black cooking surface", + "Grab the golden bread loaf from the table and set it in the flat-bottom skillet.", + "Use the right arm to move the soft bread and set it into the smooth non-stick skillet.", + "Use the right arm to stick the hand-sized bread block into the round skillet with open handle end.", + "Place the bread block with light patches from the table into the smooth non-stick skillet", + "Pick the bread loaf with uneven edges and transfer it to the gray skillet for stovetop cooking", + "Lift the golden bread and drop it into the gray skillet for stovetop cooking.", + "Take the golden bread loaf and place it inside the round skillet with open handle end", + "Place the bread loaf with uneven edges into the gray skillet for stovetop cooking with the right arm.", + "Use the right arm to grab the bread block with light patches for the metal skillet with comfortable grip", + "Pick the hand-sized bread block up using the right arm and drop it in the gray skillet for stovetop cooking.", + "Take the bread loaf with uneven edges and put it in the skillet for frying food.", + "Use the right arm to pick the bread loaf with bumpy surface for the smooth non-stick skillet", + "Take the hand-sized bread block and place it inside the skillet with black cooking surface", + "Set the bread with rough texture into the dark gray skillet after grabbing", + "Grab the cuboid bread and place it inside the metal skillet", + "Grab the bread block with light patches and drop it into the metal skillet", + "Take the bread with rough texture and put it in the medium-sized frying skillet.", + "Pick up the soft bread and put it in the skillet with black cooking surface", + "Place the soft bread into the black-surfaced skillet with gray sides using the right arm", + "Lift the bread loaf with uneven edges using the right arm and move it to the flat-bottom skillet", + "Take the hand-sized bread block off the table into the smooth non-stick skillet", + "Grab the golden bread using the right arm and place it in the skillet for frying food", + "Pick the square-shaped bread and set it into the metal skillet.", + "Take the golden bread and drop it into the metal skillet with comfortable grip.", + "Pick up the golden bread loaf and place it in the metal skillet.", + "Use the right arm to take the hand-sized bread block and move it into the round skillet with handle.", + "Pick up the hand-sized bread block with the right arm and drop it in the dark gray skillet", + "Use the right arm to pick the square-shaped bread up for the dark gray skillet", + "Move the hand-sized bread block to the metal skillet using the right arm", + "Use the right arm to set the golden bread into the metal skillet.", + "Use the right arm to grab the hand-sized bread block and set it in the round skillet with handle.", + "Grab the soft bread and place it inside the skillet with black cooking surface.", + "Put the bread block with light patches into the dark gray skillet.", + "Move the bread with rough texture from table into the black-surfaced skillet with gray sides", + "Pick the bread with rough texture off the table and place it in the medium-sized frying skillet.", + "Put the bread block with light patches into the smooth non-stick skillet after grabbing it", + "Move the soft bread into the skillet with black cooking surface from the table", + "Use the right arm to place the cuboid bread into the smooth non-stick skillet", + "Take the bread with rough texture and set it into the skillet with black cooking surface", + "Take the doughy and soft bread with the right arm and drop into the smooth non-stick skillet", + "Transfer the bread with rough texture into the metal skillet with comfortable grip from the table", + "Grab the bread with rough texture and stick it in the flat-bottom skillet.", + "Use the right arm to lift the bread loaf with bumpy surface and place it into the dark gray skillet.", + "Grab the soft bread with the right arm and place in the flat-bottom skillet", + "Pick the square-shaped bread with the right arm and set it in the metal skillet with comfortable grip", + "Use the right arm to grab the bread loaf with bumpy surface for the medium-sized frying skillet", + "Use the right arm to move the cuboid bread into the metal skillet with comfortable grip", + "Use the right arm to pick the bread loaf with uneven edges and put it in the round skillet with open handle end", + "Use the right arm to pick the bread with rough texture and place it into the black-surfaced skillet with gray sides.", + "Lift the bread block with light patches and drop it into the smooth non-stick skillet", + "Grab the soft bread from the table and set it in the skillet for frying food.", + "Use the right arm to move the hand-sized bread block and set it into the medium-sized frying skillet.", + "Use the right arm to stick the golden bread into the medium-sized frying skillet.", + "Place the bread with rough texture from the table into the flat-bottom skillet", + "Pick the soft bread and transfer it to the gray skillet for stovetop cooking", + "Lift the bread loaf with bumpy surface and drop it into the dark gray skillet.", + "Take the bread with rough texture and place it inside the metal skillet", + "Place the bread loaf with bumpy surface into the medium-sized frying skillet with the right arm.", + "Use the right arm to grab the bread loaf with bumpy surface for the smooth non-stick skillet", + "Pick the bread loaf with bumpy surface up using the right arm and drop it in the medium-sized frying skillet.", + "Take the bread with rough texture and put it in the gray skillet for stovetop cooking.", + "Use the right arm to pick the golden bread loaf for the round skillet with handle", + "Take the light golden brown bread and place it inside the round skillet with open handle end", + "Set the square-shaped bread into the round skillet with open handle end after grabbing", + "Grab the soft bread and place it inside the gray skillet for stovetop cooking", + "Grab the bread with rough texture and drop it into the medium-sized frying skillet", + "Take the bread with rough texture and put it in the metal skillet with comfortable grip.", + "Pick up the square-shaped bread and put it in the metal skillet with comfortable grip", + "Place the bread loaf with uneven edges into the round skillet with handle using the right arm", + "Lift the square-shaped bread using the right arm and move it to the gray skillet for stovetop cooking", + "Take the square-shaped bread off the table into the flat-bottom skillet", + "Grab the bread with rough texture using the right arm and place it in the round skillet with handle", + "Pick the bread loaf with uneven edges and set it into the flat-bottom skillet.", + "Take the hand-sized bread block and drop it into the flat-bottom skillet.", + "Pick up the doughy and soft bread and place it in the round skillet with handle.", + "Use the right arm to take the golden bread and move it into the dark gray skillet.", + "Pick up the doughy and soft bread with the right arm and drop it in the dark gray skillet", + "Use the right arm to pick the square-shaped bread up for the round skillet with open handle end", + "Move the light golden brown bread to the medium-sized frying skillet using the right arm", + "Use the right arm to set the golden bread into the smooth non-stick skillet." + ], + "unseen": [ + "Use the right arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Use the right arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Use the right arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode40.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..cdc5f5697b346e3d209dfea28604f223bcf6c13e --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put the cuboid bread into the medium-sized frying skillet.", + "Lift the square-shaped bread using the right arm and move it to the metal skillet", + "Pick up the soft bread and put it in the gray skillet for stovetop cooking", + "Place the square-shaped bread from the table into the metal skillet with comfortable grip", + "Move the doughy and soft bread from table into the skillet with black cooking surface", + "Use the right arm to grab the hand-sized bread block and set it in the flat-bottom skillet.", + "Take the golden bread loaf off the table into the round skillet with handle", + "Pick the bread loaf with bumpy surface with the right arm and set it in the dark gray skillet", + "Use the right arm to stick the light golden brown bread into the metal skillet.", + "Use the right arm to move the golden bread into the smooth non-stick skillet", + "Pick up the soft bread with the right arm and drop it in the medium-sized frying skillet", + "Take the bread block with light patches and place it inside the flat-bottom skillet", + "Take the bread with rough texture and set it into the skillet for frying food", + "Pick up the soft bread and place it in the skillet with black cooking surface.", + "Use the right arm to lift the hand-sized bread block and place it into the gray skillet for stovetop cooking.", + "Use the right arm to grab the hand-sized bread block for the metal skillet with comfortable grip", + "Lift the hand-sized bread block and drop it into the smooth non-stick skillet", + "Move the doughy and soft bread to the flat-bottom skillet using the right arm", + "Place the bread block with light patches into the dark gray skillet using the right arm", + "Place the bread loaf with bumpy surface into the round skillet with open handle end with the right arm.", + "Use the right arm to take the bread block with light patches and move it into the medium-sized frying skillet.", + "Use the right arm to set the bread loaf with uneven edges into the gray skillet for stovetop cooking.", + "Grab the bread loaf with bumpy surface and drop it into the flat-bottom skillet", + "Grab the doughy and soft bread with the right arm and place in the dark gray skillet", + "Pick the light golden brown bread and set it into the smooth non-stick skillet.", + "Grab the doughy and soft bread and place it inside the skillet for frying food.", + "Use the right arm to pick the cuboid bread up for the flat-bottom skillet", + "Grab the square-shaped bread and place it inside the gray skillet for stovetop cooking", + "Pick the light golden brown bread off the table and place it in the round skillet with handle.", + "Use the right arm to pick the cuboid bread and put it in the black-surfaced skillet with gray sides", + "Take the golden bread with the right arm and drop into the metal skillet", + "Pick the golden bread up using the right arm and drop it in the skillet for frying food.", + "Take the doughy and soft bread and place it inside the skillet with black cooking surface", + "Take the bread block with light patches and put it in the flat-bottom skillet.", + "Transfer the bread block with light patches into the round skillet with open handle end from the table", + "Use the right arm to pick the light golden brown bread and place it into the smooth non-stick skillet.", + "Take the hand-sized bread block and put it in the round skillet with handle.", + "Use the right arm to pick the bread with rough texture for the flat-bottom skillet", + "Set the bread with rough texture into the round skillet with handle after grabbing", + "Use the right arm to move the light golden brown bread and set it into the medium-sized frying skillet.", + "Grab the bread block with light patches and stick it in the flat-bottom skillet.", + "Move the soft bread into the round skillet with open handle end from the table", + "Use the right arm to grab the bread with rough texture for the medium-sized frying skillet", + "Grab the doughy and soft bread using the right arm and place it in the medium-sized frying skillet", + "Grab the golden bread from the table and set it in the gray skillet for stovetop cooking.", + "Use the right arm to place the doughy and soft bread into the round skillet with open handle end", + "Put the light golden brown bread into the metal skillet after grabbing it", + "Take the bread block with light patches and drop it into the medium-sized frying skillet.", + "Lift the bread loaf with uneven edges and drop it into the dark gray skillet.", + "Pick the bread block with light patches and transfer it to the black-surfaced skillet with gray sides", + "Put the golden bread into the metal skillet with comfortable grip.", + "Lift the hand-sized bread block using the right arm and move it to the smooth non-stick skillet", + "Pick up the bread with rough texture and put it in the skillet with black cooking surface", + "Place the bread loaf with bumpy surface from the table into the dark gray skillet", + "Move the doughy and soft bread from table into the metal skillet", + "Use the right arm to grab the doughy and soft bread and set it in the skillet with black cooking surface.", + "Take the bread with rough texture off the table into the metal skillet", + "Pick the square-shaped bread with the right arm and set it in the skillet for frying food", + "Use the right arm to stick the light golden brown bread into the skillet with black cooking surface.", + "Use the right arm to move the golden bread into the smooth non-stick skillet", + "Pick up the bread block with light patches with the right arm and drop it in the round skillet with open handle end", + "Take the cuboid bread and place it inside the round skillet with handle", + "Take the doughy and soft bread and set it into the flat-bottom skillet", + "Pick up the soft bread and place it in the metal skillet with comfortable grip.", + "Use the right arm to lift the bread loaf with uneven edges and place it into the flat-bottom skillet.", + "Use the right arm to grab the golden bread loaf for the round skillet with handle", + "Lift the doughy and soft bread and drop it into the smooth non-stick skillet", + "Move the bread loaf with bumpy surface to the smooth non-stick skillet using the right arm", + "Place the square-shaped bread into the skillet with black cooking surface using the right arm", + "Place the light golden brown bread into the dark gray skillet with the right arm.", + "Use the right arm to take the doughy and soft bread and move it into the dark gray skillet.", + "Use the right arm to set the cuboid bread into the round skillet with handle.", + "Grab the bread block with light patches and drop it into the flat-bottom skillet", + "Grab the bread block with light patches with the right arm and place in the smooth non-stick skillet", + "Pick the bread loaf with uneven edges and set it into the black-surfaced skillet with gray sides.", + "Grab the bread block with light patches and place it inside the round skillet with open handle end.", + "Use the right arm to pick the doughy and soft bread up for the flat-bottom skillet", + "Grab the soft bread and place it inside the skillet with black cooking surface", + "Pick the cuboid bread off the table and place it in the dark gray skillet.", + "Use the right arm to pick the bread loaf with bumpy surface and put it in the gray skillet for stovetop cooking", + "Take the golden bread loaf with the right arm and drop into the skillet for frying food", + "Pick the hand-sized bread block up using the right arm and drop it in the metal skillet with comfortable grip.", + "Take the bread block with light patches and place it inside the skillet for frying food", + "Take the light golden brown bread and put it in the smooth non-stick skillet.", + "Transfer the bread block with light patches into the dark gray skillet from the table", + "Use the right arm to pick the bread loaf with uneven edges and place it into the metal skillet with comfortable grip.", + "Take the square-shaped bread and put it in the dark gray skillet.", + "Use the right arm to pick the bread loaf with bumpy surface for the metal skillet with comfortable grip", + "Set the bread block with light patches into the round skillet with handle after grabbing", + "Use the right arm to move the hand-sized bread block and set it into the skillet for frying food.", + "Grab the bread loaf with uneven edges and stick it in the round skillet with handle.", + "Move the bread with rough texture into the skillet with black cooking surface from the table", + "Use the right arm to grab the light golden brown bread for the dark gray skillet", + "Grab the cuboid bread using the right arm and place it in the skillet with black cooking surface", + "Grab the soft bread from the table and set it in the flat-bottom skillet.", + "Use the right arm to place the bread block with light patches into the gray skillet for stovetop cooking", + "Put the cuboid bread into the round skillet with open handle end after grabbing it", + "Take the square-shaped bread and drop it into the skillet with black cooking surface.", + "Lift the bread with rough texture and drop it into the skillet for frying food.", + "Pick the bread loaf with uneven edges and transfer it to the round skillet with open handle end" + ], + "unseen": [ + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Use the right arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Use the right arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Use the right arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Use the right arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Use the right arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Use the right arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the right arm.", + "Use the right arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the right arm.", + "Use the right arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode41.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..fee616decc1f9c4c11eafc07168e415a5e9436ee --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bread loaf with square shape with the left arm and place in the black-surfaced skillet with gray sides", + "Move the slice-shaped bread to the metal skillet using the left arm", + "Use the left arm to pick the golden bread for the round skillet with open handle end", + "Use the left arm to move the bread with firm crust edges and set it into the metal skillet with comfortable grip.", + "Pick the bread with rounded corners and transfer it to the round skillet with handle", + "Take the golden bread with the left arm and drop into the flat-bottom skillet", + "Use the left arm to move the bread with golden surface color into the round skillet with open handle end", + "Use the left arm to grab the bread with golden surface color and set it in the smooth non-stick skillet.", + "Transfer the square loaf of bread into the gray skillet for stovetop cooking from the table", + "Pick the bread with rounded corners with the left arm and set it in the skillet for frying food", + "Use the left arm to stick the bread loaf with square shape into the medium-sized frying skillet.", + "Move the bread with firm crust edges from table into the round skillet with handle", + "Use the left arm to pick the bread with firm crust edges and place it into the metal skillet with comfortable grip.", + "Pick up the brown bread loaf and put it in the gray skillet for stovetop cooking", + "Grab the slice-shaped bread and stick it in the smooth non-stick skillet.", + "Grab the rectangular bread soft inside from the table and set it in the smooth non-stick skillet.", + "Use the left arm to pick the soft golden baked bread up for the gray skillet for stovetop cooking", + "Pick the bread with rounded corners up using the left arm and drop it in the metal skillet.", + "Take the bread loaf with square shape and place it inside the skillet for frying food", + "Grab the bread with rounded corners and place it inside the dark gray skillet.", + "Set the square loaf of bread into the flat-bottom skillet after grabbing", + "Pick the square loaf of bread off the table and place it in the metal skillet.", + "Place the bread with golden surface color from the table into the skillet for frying food", + "Grab the golden bread using the left arm and place it in the dark gray skillet", + "Use the left arm to set the soft golden baked bread into the medium-sized frying skillet.", + "Take the rectangular bread soft inside and set it into the dark gray skillet", + "Use the left arm to grab the bread with golden surface color for the skillet for frying food", + "Move the golden brown loaf-shaped bread into the smooth non-stick skillet from the table", + "Take the square loaf of bread and place it inside the gray skillet for stovetop cooking", + "Lift the golden crusted bread slice and drop it into the flat-bottom skillet.", + "Pick the soft golden baked bread and set it into the dark gray skillet.", + "Pick up the bread with golden surface color with the left arm and drop it in the gray skillet for stovetop cooking", + "Place the golden crusted bread slice into the metal skillet with comfortable grip with the left arm.", + "Take the rectangular bread soft inside off the table into the metal skillet with comfortable grip", + "Use the left arm to take the bread with firm crust edges and move it into the gray skillet for stovetop cooking.", + "Use the left arm to place the bread with rounded corners into the metal skillet with comfortable grip", + "Put the golden crusted bread slice into the smooth non-stick skillet after grabbing it", + "Take the soft golden baked bread and put it in the metal skillet.", + "Use the left arm to lift the rectangular bread soft inside and place it into the flat-bottom skillet.", + "Take the bread with rounded corners and drop it into the metal skillet.", + "Lift the bread with rounded corners and drop it into the skillet for frying food", + "Put the slice-shaped bread into the skillet for frying food.", + "Use the left arm to pick the golden bread and put it in the skillet with black cooking surface", + "Lift the golden brown loaf-shaped bread using the left arm and move it to the metal skillet with comfortable grip", + "Place the golden bread into the dark gray skillet using the left arm", + "Grab the rectangular bread soft inside and drop it into the gray skillet for stovetop cooking", + "Grab the bread with firm crust edges and place it inside the gray skillet for stovetop cooking", + "Take the bread with rounded corners and put it in the metal skillet.", + "Use the left arm to grab the brown bread loaf for the gray skillet for stovetop cooking", + "Pick up the square loaf of bread and place it in the smooth non-stick skillet.", + "Grab the square loaf of bread with the left arm and place in the medium-sized frying skillet", + "Move the golden brown loaf-shaped bread to the dark gray skillet using the left arm", + "Use the left arm to pick the bread with golden surface color for the metal skillet with comfortable grip", + "Use the left arm to move the golden brown loaf-shaped bread and set it into the gray skillet for stovetop cooking.", + "Pick the rectangular bread soft inside and transfer it to the round skillet with handle", + "Take the bread loaf with square shape with the left arm and drop into the flat-bottom skillet", + "Use the left arm to move the bread loaf with square shape into the flat-bottom skillet", + "Use the left arm to grab the bread loaf with square shape and set it in the gray skillet for stovetop cooking.", + "Transfer the brown bread loaf into the smooth non-stick skillet from the table", + "Pick the bread loaf with square shape with the left arm and set it in the gray skillet for stovetop cooking", + "Use the left arm to stick the soft golden baked bread into the black-surfaced skillet with gray sides.", + "Move the bread with firm crust edges from table into the metal skillet with comfortable grip", + "Use the left arm to pick the golden crusted bread slice and place it into the gray skillet for stovetop cooking.", + "Pick up the rectangular bread soft inside and put it in the skillet with black cooking surface", + "Grab the bread with rounded corners and stick it in the black-surfaced skillet with gray sides.", + "Grab the golden bread from the table and set it in the smooth non-stick skillet.", + "Use the left arm to pick the slice-shaped bread up for the metal skillet with comfortable grip", + "Pick the golden brown loaf-shaped bread up using the left arm and drop it in the flat-bottom skillet.", + "Take the golden bread and place it inside the dark gray skillet", + "Grab the bread loaf with square shape and place it inside the flat-bottom skillet.", + "Set the bread with golden surface color into the skillet with black cooking surface after grabbing", + "Pick the golden brown loaf-shaped bread off the table and place it in the black-surfaced skillet with gray sides.", + "Place the rectangular bread soft inside from the table into the medium-sized frying skillet", + "Grab the golden crusted bread slice using the left arm and place it in the metal skillet with comfortable grip", + "Use the left arm to set the bread with firm crust edges into the metal skillet with comfortable grip.", + "Take the bread with golden surface color and set it into the gray skillet for stovetop cooking", + "Use the left arm to grab the rectangular bread soft inside for the black-surfaced skillet with gray sides", + "Move the square loaf of bread into the smooth non-stick skillet from the table", + "Take the slice-shaped bread and place it inside the gray skillet for stovetop cooking", + "Lift the brown bread loaf and drop it into the gray skillet for stovetop cooking.", + "Pick the soft golden baked bread and set it into the skillet with black cooking surface.", + "Pick up the slice-shaped bread with the left arm and drop it in the dark gray skillet", + "Place the bread with firm crust edges into the skillet with black cooking surface with the left arm.", + "Take the soft golden baked bread off the table into the dark gray skillet", + "Use the left arm to take the brown bread loaf and move it into the metal skillet.", + "Use the left arm to place the brown bread loaf into the medium-sized frying skillet", + "Put the square loaf of bread into the skillet for frying food after grabbing it", + "Take the golden bread and put it in the dark gray skillet.", + "Use the left arm to lift the golden brown loaf-shaped bread and place it into the black-surfaced skillet with gray sides.", + "Take the golden bread and drop it into the round skillet with handle.", + "Lift the bread with golden surface color and drop it into the black-surfaced skillet with gray sides", + "Put the golden bread into the metal skillet.", + "Use the left arm to pick the slice-shaped bread and put it in the skillet for frying food", + "Lift the rectangular bread soft inside using the left arm and move it to the flat-bottom skillet", + "Place the golden brown loaf-shaped bread into the metal skillet with comfortable grip using the left arm", + "Grab the brown bread loaf and drop it into the round skillet with open handle end", + "Grab the golden crusted bread slice and place it inside the dark gray skillet", + "Take the square loaf of bread and put it in the round skillet with open handle end.", + "Use the left arm to grab the golden brown loaf-shaped bread for the dark gray skillet", + "Pick up the square loaf of bread and place it in the metal skillet." + ], + "unseen": [ + "Take the soft rectangular bread loaf and put it in the dark skillet with shiny finish", + "Pick up the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and place it in the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Use the left arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing.", + "Pick the bread loaf medium-sized up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Move the small loaf-shaped bread to the pan-shaped skillet with hole in handle using the left arm.", + "Take the bread loaf medium-sized and put it in the dark skillet with shiny finish", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf medium-sized and place it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Pick the soft rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Move the soft rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Take the small loaf-shaped bread and put it in the pan-shaped skillet with hole in handle", + "Pick up the soft rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it into the dark skillet with shiny finish.", + "Grab the soft rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing.", + "Pick the small loaf-shaped bread up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Move the soft rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Take the bread loaf medium-sized and put it in the pan-shaped skillet with hole in handle", + "Pick up the soft rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it into the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and place it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and drop it into the dark skillet with shiny finish.", + "Use the left arm to move the soft rectangular bread loaf to the dark skillet with shiny finish.", + "Pick the small loaf-shaped bread up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Take the bread loaf medium-sized and put it in the pan-shaped skillet with hole in handle", + "Pick up the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the soft rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the soft rectangular bread loaf to the dark skillet with shiny finish.", + "Pick the soft rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Use the left arm to grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Move the small loaf-shaped bread to the versatile skillet for frying and sauteing using the left arm.", + "Take the soft rectangular bread loaf and put it in the dark skillet with shiny finish", + "Pick up the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and place it into the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and place it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the soft rectangular bread loaf to the dark skillet with shiny finish.", + "Pick the soft rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Use the left arm to grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Move the small loaf-shaped bread to the pan-shaped skillet with hole in handle using the left arm.", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it into the dark skillet with shiny finish.", + "Grab the soft rectangular bread loaf and place it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Pick the soft rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Use the left arm to grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Move the bread loaf medium-sized to the dark skillet with shiny finish using the left arm.", + "Take the bread loaf medium-sized and put it in the dark skillet with shiny finish", + "Pick up the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Grab the soft rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the bread loaf medium-sized to the dark skillet with shiny finish.", + "Pick the soft rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Move the bread loaf medium-sized to the versatile skillet for frying and sauteing using the left arm.", + "Take the soft rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and place it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Pick the soft rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Move the soft rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Take the small loaf-shaped bread and put it in the dark skillet with shiny finish", + "Pick up the small loaf-shaped bread and drop it into the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it into the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Use the left arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing.", + "Pick the bread loaf medium-sized up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Move the small loaf-shaped bread to the versatile skillet for frying and sauteing using the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode42.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..a82f39fe915b443a91c6af1dfa8f98dc4ded5e87 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to stick the bread loaf with uneven edges into the metal skillet.", + "Lift the square-shaped bread and drop it into the flat-bottom skillet.", + "Move the soft bread from table into the black-surfaced skillet with gray sides", + "Use the right arm to grab the golden bread for the metal skillet with comfortable grip", + "Grab the bread with rough texture from the table and set it in the round skillet with handle.", + "Use the right arm to set the bread loaf with uneven edges into the black-surfaced skillet with gray sides.", + "Take the soft bread off the table into the dark gray skillet", + "Use the right arm to grab the soft bread and set it in the round skillet with open handle end.", + "Pick the hand-sized bread block and transfer it to the round skillet with open handle end", + "Put the cuboid bread into the round skillet with handle.", + "Pick the golden bread with the right arm and set it in the skillet for frying food", + "Place the golden bread from the table into the metal skillet with comfortable grip", + "Grab the square-shaped bread using the right arm and place it in the round skillet with handle", + "Use the right arm to pick the bread loaf with bumpy surface and place it into the skillet for frying food.", + "Pick up the light golden brown bread and place it in the skillet for frying food.", + "Use the right arm to grab the golden bread loaf for the dark gray skillet", + "Take the square-shaped bread and put it in the metal skillet.", + "Set the golden bread into the metal skillet with comfortable grip after grabbing", + "Put the cuboid bread into the metal skillet after grabbing it", + "Grab the hand-sized bread block with the right arm and place in the dark gray skillet", + "Transfer the hand-sized bread block into the smooth non-stick skillet from the table", + "Lift the cuboid bread using the right arm and move it to the medium-sized frying skillet", + "Pick up the bread with rough texture and put it in the round skillet with open handle end", + "Move the square-shaped bread to the gray skillet for stovetop cooking using the right arm", + "Use the right arm to pick the doughy and soft bread for the round skillet with open handle end", + "Use the right arm to pick the square-shaped bread and put it in the skillet with black cooking surface", + "Pick the hand-sized bread block off the table and place it in the round skillet with open handle end.", + "Place the golden bread into the skillet for frying food using the right arm", + "Grab the square-shaped bread and stick it in the smooth non-stick skillet.", + "Grab the bread loaf with bumpy surface and drop it into the black-surfaced skillet with gray sides", + "Move the bread loaf with uneven edges into the medium-sized frying skillet from the table", + "Use the right arm to move the doughy and soft bread into the smooth non-stick skillet", + "Pick up the doughy and soft bread with the right arm and drop it in the black-surfaced skillet with gray sides", + "Take the bread loaf with uneven edges and place it inside the round skillet with open handle end", + "Grab the bread with rough texture and place it inside the smooth non-stick skillet", + "Take the bread block with light patches and set it into the flat-bottom skillet", + "Use the right arm to pick the golden bread up for the skillet with black cooking surface", + "Take the bread loaf with uneven edges and drop it into the black-surfaced skillet with gray sides.", + "Take the soft bread with the right arm and drop into the round skillet with open handle end", + "Lift the golden bread and drop it into the round skillet with open handle end", + "Use the right arm to move the bread loaf with uneven edges and set it into the metal skillet with comfortable grip.", + "Take the square-shaped bread and place it inside the smooth non-stick skillet", + "Use the right arm to lift the cuboid bread and place it into the metal skillet.", + "Take the hand-sized bread block and put it in the black-surfaced skillet with gray sides.", + "Pick the cuboid bread and set it into the metal skillet.", + "Pick the bread with rough texture up using the right arm and drop it in the metal skillet with comfortable grip.", + "Use the right arm to place the cuboid bread into the dark gray skillet", + "Place the golden bread loaf into the skillet with black cooking surface with the right arm.", + "Grab the bread block with light patches and place it inside the round skillet with handle.", + "Use the right arm to take the doughy and soft bread and move it into the dark gray skillet.", + "Use the right arm to stick the hand-sized bread block into the black-surfaced skillet with gray sides.", + "Lift the golden bread loaf and drop it into the skillet with black cooking surface.", + "Move the golden bread loaf from table into the skillet with black cooking surface", + "Use the right arm to grab the bread loaf with bumpy surface for the metal skillet", + "Grab the cuboid bread from the table and set it in the dark gray skillet.", + "Use the right arm to set the golden bread into the flat-bottom skillet.", + "Take the bread loaf with bumpy surface off the table into the black-surfaced skillet with gray sides", + "Use the right arm to grab the bread block with light patches and set it in the gray skillet for stovetop cooking.", + "Pick the doughy and soft bread and transfer it to the metal skillet", + "Put the doughy and soft bread into the round skillet with handle.", + "Pick the golden bread loaf with the right arm and set it in the black-surfaced skillet with gray sides", + "Place the doughy and soft bread from the table into the medium-sized frying skillet", + "Grab the bread with rough texture using the right arm and place it in the smooth non-stick skillet", + "Use the right arm to pick the bread loaf with uneven edges and place it into the round skillet with handle.", + "Pick up the bread loaf with bumpy surface and place it in the metal skillet.", + "Use the right arm to grab the square-shaped bread for the gray skillet for stovetop cooking", + "Take the bread block with light patches and put it in the metal skillet.", + "Set the hand-sized bread block into the dark gray skillet after grabbing", + "Put the doughy and soft bread into the dark gray skillet after grabbing it", + "Grab the square-shaped bread with the right arm and place in the dark gray skillet", + "Transfer the golden bread loaf into the skillet with black cooking surface from the table", + "Lift the doughy and soft bread using the right arm and move it to the dark gray skillet", + "Pick up the light golden brown bread and put it in the gray skillet for stovetop cooking", + "Move the cuboid bread to the dark gray skillet using the right arm", + "Use the right arm to pick the bread with rough texture for the round skillet with open handle end", + "Use the right arm to pick the golden bread and put it in the medium-sized frying skillet", + "Pick the bread with rough texture off the table and place it in the metal skillet with comfortable grip.", + "Place the golden bread loaf into the medium-sized frying skillet using the right arm", + "Grab the square-shaped bread and stick it in the flat-bottom skillet.", + "Grab the doughy and soft bread and drop it into the flat-bottom skillet", + "Move the square-shaped bread into the metal skillet from the table", + "Use the right arm to move the bread block with light patches into the dark gray skillet", + "Pick up the bread block with light patches with the right arm and drop it in the metal skillet", + "Take the square-shaped bread and place it inside the skillet for frying food", + "Grab the square-shaped bread and place it inside the gray skillet for stovetop cooking", + "Take the doughy and soft bread and set it into the flat-bottom skillet", + "Use the right arm to pick the bread block with light patches up for the dark gray skillet", + "Take the cuboid bread and drop it into the round skillet with open handle end.", + "Take the golden bread with the right arm and drop into the metal skillet", + "Lift the bread loaf with bumpy surface and drop it into the medium-sized frying skillet", + "Use the right arm to move the doughy and soft bread and set it into the skillet for frying food.", + "Take the hand-sized bread block and place it inside the medium-sized frying skillet", + "Use the right arm to lift the doughy and soft bread and place it into the medium-sized frying skillet.", + "Take the hand-sized bread block and put it in the skillet with black cooking surface.", + "Pick the golden bread and set it into the black-surfaced skillet with gray sides.", + "Pick the square-shaped bread up using the right arm and drop it in the flat-bottom skillet.", + "Use the right arm to place the bread with rough texture into the medium-sized frying skillet", + "Place the cuboid bread into the smooth non-stick skillet with the right arm.", + "Grab the bread loaf with bumpy surface and place it inside the metal skillet.", + "Use the right arm to take the square-shaped bread and move it into the metal skillet." + ], + "unseen": [ + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the right arm.", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the right arm.", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the right arm.", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Use the right arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the right arm.", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the right arm.", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the right arm.", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the right arm.", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Use the right arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode43.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..268c668e75d9b971c7c4608716c16252f489490d --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the small loaf with curved top and place it inside the black-surfaced skillet with gray sides", + "Use the left arm to place the brown loaf into the dark gray skillet", + "Move the bread with golden-brown crust to the round skillet with open handle end using the left arm", + "Pick the golden bread loaf with the left arm and set it in the round skillet with open handle end", + "Take the light brown loaf with smooth sides and drop it into the dark gray skillet.", + "Take the bread with split top and place it inside the medium-sized frying skillet", + "Take the brown loaf and put it in the skillet for frying food.", + "Use the left arm to move the soft brown bread and set it into the gray skillet for stovetop cooking.", + "Pick up the soft brown bread with the left arm and drop it in the black-surfaced skillet with gray sides", + "Pick the light brown bread with ridges off the table and place it in the skillet with black cooking surface.", + "Use the left arm to stick the bread with golden-brown crust into the medium-sized frying skillet.", + "Grab the soft brown bread and stick it in the medium-sized frying skillet.", + "Transfer the bread with golden-brown crust into the round skillet with open handle end from the table", + "Lift the golden bread loaf and drop it into the medium-sized frying skillet.", + "Use the left arm to grab the hand-sized oval loaf for the round skillet with handle", + "Pick the hand-sized oval loaf up using the left arm and drop it in the metal skillet.", + "Use the left arm to take the bread with split top and move it into the medium-sized frying skillet.", + "Use the left arm to grab the light brown loaf with smooth sides and set it in the skillet with black cooking surface.", + "Grab the soft brown bread with the left arm and place in the dark gray skillet", + "Pick up the soft brown bread and put it in the black-surfaced skillet with gray sides", + "Pick up the bread with split top and place it in the gray skillet for stovetop cooking.", + "Move the smooth loaf with rounded edges into the skillet with black cooking surface from the table", + "Place the bread with golden-brown crust from the table into the metal skillet with comfortable grip", + "Use the left arm to lift the small golden brown bread and place it into the metal skillet.", + "Take the brown loaf with the left arm and drop into the gray skillet for stovetop cooking", + "Lift the bread with warm golden color using the left arm and move it to the dark gray skillet", + "Use the left arm to pick the soft brown bread for the metal skillet", + "Grab the soft brown bread and place it inside the dark gray skillet", + "Use the left arm to pick the bread with warm golden color up for the gray skillet for stovetop cooking", + "Put the bread with golden-brown crust into the metal skillet with comfortable grip.", + "Grab the brown loaf and drop it into the metal skillet", + "Use the left arm to grab the small loaf with curved top for the gray skillet for stovetop cooking", + "Pick the bread with split top and transfer it to the medium-sized frying skillet", + "Move the smooth loaf with rounded edges from table into the gray skillet for stovetop cooking", + "Use the left arm to pick the bread with golden-brown crust and place it into the smooth non-stick skillet.", + "Grab the brown loaf using the left arm and place it in the gray skillet for stovetop cooking", + "Grab the golden bread loaf from the table and set it in the round skillet with handle.", + "Place the soft brown bread into the medium-sized frying skillet using the left arm", + "Place the soft brown bread into the metal skillet with the left arm.", + "Use the left arm to move the light brown loaf with smooth sides into the medium-sized frying skillet", + "Take the bread with golden-brown crust off the table into the round skillet with open handle end", + "Set the small golden brown bread into the medium-sized frying skillet after grabbing", + "Use the left arm to set the hand-sized oval loaf into the smooth non-stick skillet.", + "Grab the small loaf with curved top and place it inside the medium-sized frying skillet.", + "Pick the smooth loaf with rounded edges and set it into the flat-bottom skillet.", + "Use the left arm to pick the soft brown bread and put it in the metal skillet with comfortable grip", + "Take the light brown bread with ridges and put it in the round skillet with open handle end.", + "Lift the hand-sized oval loaf and drop it into the black-surfaced skillet with gray sides", + "Put the bread with warm golden color into the dark gray skillet after grabbing it", + "Take the bread with golden-brown crust and set it into the skillet for frying food", + "Take the small golden brown bread and place it inside the flat-bottom skillet", + "Use the left arm to place the light brown bread with ridges into the skillet with black cooking surface", + "Move the bread with split top to the black-surfaced skillet with gray sides using the left arm", + "Pick the small loaf with curved top with the left arm and set it in the skillet for frying food", + "Take the bread with split top and drop it into the black-surfaced skillet with gray sides.", + "Take the small golden brown bread and place it inside the gray skillet for stovetop cooking", + "Take the smooth loaf with rounded edges and put it in the round skillet with handle.", + "Use the left arm to move the bread with split top and set it into the metal skillet.", + "Pick up the bread with warm golden color with the left arm and drop it in the dark gray skillet", + "Pick the small golden brown bread off the table and place it in the smooth non-stick skillet.", + "Use the left arm to stick the small loaf with curved top into the smooth non-stick skillet.", + "Grab the smooth loaf with rounded edges and stick it in the round skillet with open handle end.", + "Transfer the bread with golden-brown crust into the metal skillet with comfortable grip from the table", + "Lift the smooth loaf with rounded edges and drop it into the skillet for frying food.", + "Use the left arm to grab the smooth loaf with rounded edges for the black-surfaced skillet with gray sides", + "Pick the bread with split top up using the left arm and drop it in the gray skillet for stovetop cooking.", + "Use the left arm to take the hand-sized oval loaf and move it into the skillet with black cooking surface.", + "Use the left arm to grab the light brown bread with ridges and set it in the gray skillet for stovetop cooking.", + "Grab the light brown loaf with smooth sides with the left arm and place in the skillet for frying food", + "Pick up the small golden brown bread and put it in the medium-sized frying skillet", + "Pick up the light brown bread with ridges and place it in the round skillet with open handle end.", + "Move the bread with warm golden color into the gray skillet for stovetop cooking from the table", + "Place the bread with warm golden color from the table into the medium-sized frying skillet", + "Use the left arm to lift the brown loaf and place it into the round skillet with handle.", + "Take the light brown loaf with smooth sides with the left arm and drop into the medium-sized frying skillet", + "Lift the small golden brown bread using the left arm and move it to the round skillet with open handle end", + "Use the left arm to pick the bread with split top for the round skillet with handle", + "Grab the small loaf with curved top and place it inside the round skillet with handle", + "Use the left arm to pick the smooth loaf with rounded edges up for the medium-sized frying skillet", + "Put the brown loaf into the flat-bottom skillet.", + "Grab the bread with warm golden color and drop it into the skillet for frying food", + "Use the left arm to grab the small loaf with curved top for the skillet with black cooking surface", + "Pick the golden bread loaf and transfer it to the medium-sized frying skillet", + "Move the hand-sized oval loaf from table into the medium-sized frying skillet", + "Use the left arm to pick the bread with golden-brown crust and place it into the black-surfaced skillet with gray sides.", + "Grab the hand-sized oval loaf using the left arm and place it in the black-surfaced skillet with gray sides", + "Grab the bread with split top from the table and set it in the round skillet with handle.", + "Place the light brown loaf with smooth sides into the dark gray skillet using the left arm", + "Place the light brown bread with ridges into the metal skillet with comfortable grip with the left arm.", + "Use the left arm to move the brown loaf into the round skillet with open handle end", + "Take the bread with golden-brown crust off the table into the metal skillet with comfortable grip", + "Set the golden bread loaf into the metal skillet with comfortable grip after grabbing", + "Use the left arm to set the soft brown bread into the metal skillet with comfortable grip.", + "Grab the smooth loaf with rounded edges and place it inside the smooth non-stick skillet.", + "Pick the small golden brown bread and set it into the skillet with black cooking surface.", + "Use the left arm to pick the bread with split top and put it in the dark gray skillet", + "Take the brown loaf and put it in the medium-sized frying skillet.", + "Lift the bread with split top and drop it into the metal skillet", + "Put the light brown loaf with smooth sides into the gray skillet for stovetop cooking after grabbing it", + "Take the bread with split top and set it into the skillet for frying food" + ], + "unseen": [ + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Move the rounded oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Move the oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Move the oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the oval bread to the dark skillet with shiny finish.", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Pick up the rounded oval bread and drop it into the pan-shaped skillet with hole in handle", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Take the oval-shaped soft bread and put it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Move the oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Use the left arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Use the left arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode44.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..a3e08735d5be7565b3b520820d4a403cc6455b9d --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick the bread with split top and place it into the heavy black cooking skillet.", + "Use the right arm to pick the soft brown bread and put it in the solid dark-colored round pan", + "Pick the light brown bread with ridges with the right arm and set it in the smooth round pan made of iron", + "Take the light brown loaf with smooth sides and put it in the solid dark-colored round pan.", + "Use the right arm to grab the hand-sized oval loaf for the dark pan with sturdy grip", + "Lift the golden bread loaf using the right arm and move it to the round pan with hole in handle", + "Take the hand-sized oval loaf and place it inside the round pan with hole in handle", + "Put the bread with warm golden color into the flat-bottomed skillet with long handle after grabbing it", + "Pick the brown loaf and transfer it to the round cooking pan", + "Use the right arm to move the small loaf with curved top and set it into the heavy black cooking skillet.", + "Move the small golden brown bread into the versatile skillet for stovetop cooking from the table", + "Pick the smooth loaf with rounded edges and set it into the versatile skillet for stovetop cooking.", + "Use the right arm to set the smooth loaf with rounded edges into the round cooking pan.", + "Grab the smooth loaf with rounded edges and place it inside the smooth round pan made of iron", + "Take the bread with warm golden color and drop it into the round cooking pan.", + "Place the soft brown bread into the dark pan with sturdy grip with the right arm.", + "Place the light brown loaf with smooth sides from the table into the versatile skillet for stovetop cooking", + "Take the bread with warm golden color and put it in the dark pan with sturdy grip.", + "Grab the golden bread loaf and stick it in the flat-bottomed skillet with long handle.", + "Grab the bread with warm golden color and drop it into the round cooking pan", + "Put the golden bread loaf into the solid dark-colored round pan.", + "Transfer the golden bread loaf into the versatile skillet for stovetop cooking from the table", + "Grab the brown loaf from the table and set it in the black skillet with smooth base.", + "Pick up the bread with split top and put it in the skillet with extended grip handle", + "Use the right arm to take the golden bread loaf and move it into the dark pan with sturdy grip.", + "Take the light brown loaf with smooth sides off the table into the round cooking pan", + "Use the right arm to grab the small golden brown bread and set it in the dark pan with sturdy grip.", + "Lift the golden bread loaf and drop it into the heavy black cooking skillet.", + "Use the right arm to pick the small loaf with curved top for the flat-bottomed skillet with long handle", + "Use the right arm to pick the small golden brown bread up for the heavy black cooking skillet", + "Use the right arm to grab the small loaf with curved top for the black pan with curved edges", + "Use the right arm to lift the soft brown bread and place it into the versatile skillet for stovetop cooking.", + "Lift the bread with warm golden color and drop it into the skillet with extended grip handle", + "Grab the hand-sized oval loaf using the right arm and place it in the round cooking pan", + "Grab the bread with warm golden color with the right arm and place in the skillet with extended grip handle", + "Use the right arm to stick the small golden brown bread into the skillet with extended grip handle.", + "Take the golden bread loaf and place it inside the medium black pan with handle", + "Take the golden bread loaf and set it into the black pan with curved edges", + "Place the small loaf with curved top into the versatile skillet for stovetop cooking using the right arm", + "Pick the light brown bread with ridges up using the right arm and drop it in the smooth round pan made of iron.", + "Set the small loaf with curved top into the round pan with hole in handle after grabbing", + "Use the right arm to move the brown loaf into the black skillet with smooth base", + "Move the brown loaf from table into the dark pan with sturdy grip", + "Pick up the bread with warm golden color with the right arm and drop it in the smooth round pan made of iron", + "Pick up the smooth loaf with rounded edges and place it in the skillet with extended grip handle.", + "Pick the hand-sized oval loaf off the table and place it in the black skillet with smooth base.", + "Grab the bread with split top and place it inside the black skillet with smooth base.", + "Move the bread with warm golden color to the round pan with hole in handle using the right arm", + "Take the bread with split top with the right arm and drop into the medium black pan with handle", + "Use the right arm to place the light brown bread with ridges into the round cooking pan", + "Use the right arm to pick the hand-sized oval loaf and place it into the round cooking pan.", + "Use the right arm to pick the light brown bread with ridges and put it in the smooth round pan made of iron", + "Pick the small loaf with curved top with the right arm and set it in the smooth round pan made of iron", + "Take the smooth loaf with rounded edges and put it in the black skillet with smooth base.", + "Use the right arm to grab the hand-sized oval loaf for the smooth round pan made of iron", + "Lift the smooth loaf with rounded edges using the right arm and move it to the round cooking pan", + "Take the small golden brown bread and place it inside the black pan with curved edges", + "Put the small loaf with curved top into the skillet with extended grip handle after grabbing it", + "Pick the golden bread loaf and transfer it to the black pan with curved edges", + "Use the right arm to move the smooth loaf with rounded edges and set it into the round pan with hole in handle.", + "Move the bread with split top into the solid dark-colored round pan from the table", + "Pick the smooth loaf with rounded edges and set it into the versatile skillet for stovetop cooking.", + "Use the right arm to set the small golden brown bread into the solid dark-colored round pan.", + "Grab the small loaf with curved top and place it inside the medium black pan with handle", + "Take the bread with golden-brown crust and drop it into the dark pan with sturdy grip.", + "Place the soft brown bread into the black skillet with smooth base with the right arm.", + "Place the soft brown bread from the table into the medium black pan with handle", + "Take the smooth loaf with rounded edges and put it in the black pan with curved edges.", + "Grab the brown loaf and stick it in the skillet with extended grip handle.", + "Grab the bread with golden-brown crust and drop it into the round pan with hole in handle", + "Put the bread with golden-brown crust into the flat-bottomed skillet with long handle.", + "Transfer the bread with split top into the solid dark-colored round pan from the table", + "Grab the smooth loaf with rounded edges from the table and set it in the black skillet with smooth base.", + "Pick up the smooth loaf with rounded edges and put it in the black pan with curved edges", + "Use the right arm to take the bread with golden-brown crust and move it into the dark pan with sturdy grip.", + "Take the small loaf with curved top off the table into the round cooking pan", + "Use the right arm to grab the bread with split top and set it in the black skillet with smooth base.", + "Lift the bread with warm golden color and drop it into the round cooking pan.", + "Use the right arm to pick the soft brown bread for the dark pan with sturdy grip", + "Use the right arm to pick the small loaf with curved top up for the solid dark-colored round pan", + "Use the right arm to grab the bread with warm golden color for the smooth round pan made of iron", + "Use the right arm to lift the golden bread loaf and place it into the heavy black cooking skillet.", + "Lift the soft brown bread and drop it into the medium black pan with handle", + "Grab the hand-sized oval loaf using the right arm and place it in the solid dark-colored round pan", + "Grab the small loaf with curved top with the right arm and place in the black pan with curved edges", + "Use the right arm to stick the brown loaf into the dark pan with sturdy grip.", + "Take the brown loaf and place it inside the black pan with curved edges", + "Take the bread with split top and set it into the black skillet with smooth base", + "Place the bread with split top into the flat-bottomed skillet with long handle using the right arm", + "Pick the light brown bread with ridges up using the right arm and drop it in the medium black pan with handle.", + "Set the soft brown bread into the flat-bottomed skillet with long handle after grabbing", + "Use the right arm to move the bread with golden-brown crust into the medium black pan with handle", + "Move the brown loaf from table into the round cooking pan", + "Pick up the bread with split top with the right arm and drop it in the smooth round pan made of iron", + "Pick up the brown loaf and place it in the round pan with hole in handle.", + "Pick the soft brown bread off the table and place it in the solid dark-colored round pan.", + "Grab the smooth loaf with rounded edges and place it inside the round pan with hole in handle.", + "Move the hand-sized oval loaf to the black skillet with smooth base using the right arm", + "Take the light brown bread with ridges with the right arm and drop into the flat-bottomed skillet with long handle", + "Use the right arm to place the brown loaf into the black skillet with smooth base" + ], + "unseen": [ + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Take the oval-shaped soft bread and put it in the black skillet", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the rounded oval bread and set it in the black skillet", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Take the oval-shaped soft bread and put it in the black skillet", + "Grab the oval bread and drop it into the black skillet.", + "Pick the rounded oval bread up and place it in the black skillet", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Grab the oval bread and place it into the black skillet.", + "Move the rounded oval bread to the black skillet using the right arm.", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the oval bread and set it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Take the oval bread and put it in the black skillet", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Use the right arm to move the oval bread to the black skillet.", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Take the oval bread and put it in the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the black skillet.", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the black skillet", + "Pick up the oval bread and drop it into the black skillet", + "Take the oval-shaped soft bread and put it in the black skillet", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Use the right arm to move the oval bread to the iron skillet for frying foods.", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Move the oval bread to the round cast-iron skillet using the right arm.", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Grab the oval bread and drop it into the iron skillet for frying foods.", + "Pick the rounded oval bread up and place it in the black skillet", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Take the oval bread and put it in the black skillet", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Pick the rounded oval bread up and place it in the black skillet", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Take the oval bread and put it in the iron skillet for frying foods", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Pick the rounded oval bread up and place it in the black skillet", + "Use the right arm to move the rounded oval bread to the black skillet.", + "Grab the oval bread and place it into the black skillet.", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Pick up the oval bread and drop it into the black skillet", + "Take the oval bread and put it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Use the right arm to move the rounded oval bread to the black skillet.", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Pick up the oval bread and drop it into the black skillet", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode45.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..ed33609881250c704d7ac3521076efa18d07d4b3 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the round bread with braided top off the table into the medium-sized frying skillet", + "Transfer the braided bread loaf into the metal skillet from the table", + "Use the left arm to take the round bread with braided top and move it into the skillet with black cooking surface.", + "Put the golden brown bread with braided design into the metal skillet after grabbing it", + "Use the left arm to lift the round bread with braided top and place it into the black-surfaced skillet with gray sides.", + "Take the small bread and set it into the dark gray skillet", + "Take the small golden baked bread with the left arm and drop into the metal skillet with comfortable grip", + "Place the bread with golden crust into the round skillet with handle using the left arm", + "Pick the bread with golden crust up using the left arm and drop it in the skillet for frying food.", + "Use the left arm to grab the bread with golden crust for the dark gray skillet", + "Grab the small bread with the left arm and place in the black-surfaced skillet with gray sides", + "Pick up the soft golden bread and put it in the skillet for frying food", + "Use the left arm to pick the bread with golden crust and put it in the smooth non-stick skillet", + "Grab the bread with golden crust and stick it in the gray skillet for stovetop cooking.", + "Put the soft golden bread into the metal skillet with comfortable grip.", + "Use the left arm to pick the small golden baked bread for the skillet with black cooking surface", + "Place the soft doughy bread from the table into the smooth non-stick skillet", + "Move the braided bread loaf into the smooth non-stick skillet from the table", + "Pick the round bread with braided top with the left arm and set it in the skillet for frying food", + "Use the left arm to move the soft golden bread into the metal skillet", + "Take the round bread with braided top and place it inside the flat-bottom skillet", + "Take the soft golden bread and put it in the round skillet with open handle end.", + "Pick the golden brown bread off the table and place it in the black-surfaced skillet with gray sides.", + "Lift the small golden baked bread and drop it into the gray skillet for stovetop cooking", + "Grab the golden bread loaf with soft inside and place it inside the metal skillet with comfortable grip.", + "Use the left arm to grab the golden brown bread and set it in the skillet with black cooking surface.", + "Lift the golden brown bread using the left arm and move it to the gray skillet for stovetop cooking", + "Use the left arm to place the round bread with braided top into the dark gray skillet", + "Move the round bread with braided top from table into the round skillet with handle", + "Use the left arm to stick the braided bread loaf into the medium-sized frying skillet.", + "Take the small golden baked bread and put it in the gray skillet for stovetop cooking.", + "Take the round bread with crusty texture and drop it into the black-surfaced skillet with gray sides.", + "Set the golden bread loaf with soft inside into the flat-bottom skillet after grabbing", + "Use the left arm to pick the smooth crusty small bread and place it into the round skillet with handle.", + "Lift the round bread with crusty texture and drop it into the metal skillet with comfortable grip.", + "Use the left arm to move the small golden baked bread and set it into the medium-sized frying skillet.", + "Grab the soft doughy bread and place it inside the metal skillet with comfortable grip", + "Use the left arm to set the braided bread loaf into the dark gray skillet.", + "Pick up the golden brown bread with braided design and place it in the round skillet with handle.", + "Grab the golden brown bread using the left arm and place it in the round skillet with open handle end", + "Use the left arm to pick the smooth crusty small bread up for the skillet for frying food", + "Place the soft golden bread into the round skillet with open handle end with the left arm.", + "Take the golden brown bread with braided design and place it inside the skillet for frying food", + "Pick up the small bread with the left arm and drop it in the gray skillet for stovetop cooking", + "Pick the soft doughy bread and set it into the black-surfaced skillet with gray sides.", + "Grab the golden brown bread with braided design and drop it into the metal skillet", + "Use the left arm to grab the golden brown bread for the round skillet with handle", + "Move the small golden baked bread to the round skillet with open handle end using the left arm", + "Grab the bread with golden crust from the table and set it in the skillet for frying food.", + "Pick the round bread with crusty texture and transfer it to the metal skillet", + "Take the soft doughy bread off the table into the metal skillet", + "Transfer the braided bread loaf into the skillet with black cooking surface from the table", + "Use the left arm to take the small bread and move it into the round skillet with handle.", + "Put the round bread with braided top into the metal skillet after grabbing it", + "Use the left arm to lift the braided bread loaf and place it into the dark gray skillet.", + "Take the soft doughy bread and set it into the flat-bottom skillet", + "Take the bread with golden crust with the left arm and drop into the round skillet with handle", + "Place the golden brown bread with braided design into the metal skillet with comfortable grip using the left arm", + "Pick the braided bread loaf up using the left arm and drop it in the round skillet with handle.", + "Use the left arm to grab the bread with golden crust for the round skillet with handle", + "Grab the small bread with the left arm and place in the dark gray skillet", + "Pick up the golden brown bread with braided design and put it in the medium-sized frying skillet", + "Use the left arm to pick the round bread with braided top and put it in the medium-sized frying skillet", + "Grab the braided bread loaf and stick it in the round skillet with handle.", + "Put the golden bread loaf with soft inside into the metal skillet with comfortable grip.", + "Use the left arm to pick the golden bread loaf with soft inside for the round skillet with handle", + "Place the soft golden bread from the table into the round skillet with open handle end", + "Move the golden bread loaf with soft inside into the metal skillet with comfortable grip from the table", + "Pick the round bread with crusty texture with the left arm and set it in the gray skillet for stovetop cooking", + "Use the left arm to move the small bread into the metal skillet with comfortable grip", + "Take the braided bread loaf and place it inside the metal skillet", + "Take the golden brown bread with braided design and put it in the metal skillet with comfortable grip.", + "Pick the soft golden bread off the table and place it in the flat-bottom skillet.", + "Lift the round bread with crusty texture and drop it into the metal skillet", + "Grab the soft golden bread and place it inside the flat-bottom skillet.", + "Use the left arm to grab the bread with golden crust and set it in the skillet with black cooking surface.", + "Lift the golden bread loaf with soft inside using the left arm and move it to the round skillet with open handle end", + "Use the left arm to place the small golden baked bread into the smooth non-stick skillet", + "Move the soft doughy bread from table into the round skillet with handle", + "Use the left arm to stick the smooth crusty small bread into the dark gray skillet.", + "Take the soft golden bread and put it in the flat-bottom skillet.", + "Take the soft doughy bread and drop it into the dark gray skillet.", + "Set the round bread with crusty texture into the gray skillet for stovetop cooking after grabbing", + "Use the left arm to pick the golden brown bread with braided design and place it into the black-surfaced skillet with gray sides.", + "Lift the golden brown bread and drop it into the flat-bottom skillet.", + "Use the left arm to move the round bread with braided top and set it into the black-surfaced skillet with gray sides.", + "Grab the small golden baked bread and place it inside the dark gray skillet", + "Use the left arm to set the soft golden bread into the round skillet with open handle end.", + "Pick up the soft golden bread and place it in the skillet for frying food.", + "Grab the round bread with braided top using the left arm and place it in the gray skillet for stovetop cooking", + "Use the left arm to pick the round bread with braided top up for the skillet with black cooking surface", + "Place the soft golden bread into the black-surfaced skillet with gray sides with the left arm.", + "Take the small golden baked bread and place it inside the medium-sized frying skillet", + "Pick up the smooth crusty small bread with the left arm and drop it in the metal skillet with comfortable grip", + "Pick the soft golden bread and set it into the round skillet with open handle end.", + "Grab the braided bread loaf and drop it into the dark gray skillet", + "Use the left arm to grab the braided bread loaf for the smooth non-stick skillet", + "Move the golden bread loaf with soft inside to the round skillet with handle using the left arm", + "Grab the golden brown bread with braided design from the table and set it in the round skillet with handle.", + "Pick the small golden baked bread and transfer it to the medium-sized frying skillet" + ], + "unseen": [ + "Move the palm-sized braided golden bread to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the palm-sized braided golden bread and drop it into the dark skillet with shiny finish", + "Grab the braided top round bread and place it into the versatile skillet for frying and sauteing.", + "Grab the palm-sized braided golden bread and set it in the dark skillet with shiny finish", + "Use the left arm to grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Take the palm-sized braided golden bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the braided top round bread to the versatile skillet for frying and sauteing.", + "Grab the palm-sized braided golden bread and place it in the pan-shaped skillet with hole in handle", + "Pick the palm-sized braided golden bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and drop it into the pan-shaped skillet with hole in handle.", + "Move the round braided loaf to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the braided top round bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and place it into the pan-shaped skillet with hole in handle.", + "Grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Take the round braided loaf and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the round braided loaf to the dark skillet with shiny finish.", + "Grab the braided top round bread and place it in the pan-shaped skillet with hole in handle", + "Pick the palm-sized braided golden bread up and place it in the dark skillet with shiny finish", + "Grab the round braided loaf and drop it into the versatile skillet for frying and sauteing.", + "Move the palm-sized braided golden bread to the dark skillet with shiny finish using the left arm.", + "Pick up the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and place it into the dark skillet with shiny finish.", + "Grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the palm-sized braided golden bread and set it in the versatile skillet for frying and sauteing", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the palm-sized braided golden bread to the dark skillet with shiny finish.", + "Grab the palm-sized braided golden bread and place it in the dark skillet with shiny finish", + "Pick the round braided loaf up and place it in the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and drop it into the dark skillet with shiny finish.", + "Move the round braided loaf to the dark skillet with shiny finish using the left arm.", + "Pick up the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it into the dark skillet with shiny finish.", + "Grab the palm-sized braided golden bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the round braided loaf and set it in the versatile skillet for frying and sauteing", + "Take the round braided loaf and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the braided top round bread to the pan-shaped skillet with hole in handle.", + "Grab the round braided loaf and place it in the dark skillet with shiny finish", + "Pick the braided top round bread up and place it in the dark skillet with shiny finish", + "Grab the round braided loaf and drop it into the versatile skillet for frying and sauteing.", + "Move the braided top round bread to the dark skillet with shiny finish using the left arm.", + "Pick up the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and place it into the versatile skillet for frying and sauteing.", + "Grab the palm-sized braided golden bread and set it in the dark skillet with shiny finish", + "Use the left arm to grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Take the braided top round bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the round braided loaf to the dark skillet with shiny finish.", + "Grab the braided top round bread and place it in the pan-shaped skillet with hole in handle", + "Pick the palm-sized braided golden bread up and place it in the dark skillet with shiny finish", + "Grab the braided top round bread and drop it into the pan-shaped skillet with hole in handle.", + "Move the round braided loaf to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the braided top round bread and drop it into the versatile skillet for frying and sauteing", + "Grab the round braided loaf and place it into the pan-shaped skillet with hole in handle.", + "Grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Take the round braided loaf and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the round braided loaf to the dark skillet with shiny finish.", + "Grab the palm-sized braided golden bread and place it in the pan-shaped skillet with hole in handle", + "Pick the braided top round bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing.", + "Move the palm-sized braided golden bread to the dark skillet with shiny finish using the left arm.", + "Pick up the round braided loaf and drop it into the dark skillet with shiny finish", + "Grab the round braided loaf and place it into the pan-shaped skillet with hole in handle.", + "Grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Take the palm-sized braided golden bread and put it in the dark skillet with shiny finish", + "Use the left arm to move the braided top round bread to the pan-shaped skillet with hole in handle.", + "Grab the braided top round bread and place it in the dark skillet with shiny finish", + "Pick the round braided loaf up and place it in the dark skillet with shiny finish", + "Grab the round braided loaf and drop it into the pan-shaped skillet with hole in handle.", + "Move the palm-sized braided golden bread to the dark skillet with shiny finish using the left arm.", + "Pick up the round braided loaf and drop it into the dark skillet with shiny finish", + "Grab the round braided loaf and place it into the versatile skillet for frying and sauteing.", + "Grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the braided top round bread and set it in the dark skillet with shiny finish", + "Take the braided top round bread and put it in the dark skillet with shiny finish", + "Use the left arm to move the palm-sized braided golden bread to the pan-shaped skillet with hole in handle.", + "Grab the braided top round bread and place it in the dark skillet with shiny finish", + "Pick the palm-sized braided golden bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and drop it into the versatile skillet for frying and sauteing.", + "Move the round braided loaf to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the round braided loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Take the palm-sized braided golden bread and put it in the dark skillet with shiny finish", + "Use the left arm to move the palm-sized braided golden bread to the versatile skillet for frying and sauteing.", + "Grab the palm-sized braided golden bread and place it in the pan-shaped skillet with hole in handle", + "Pick the palm-sized braided golden bread up and place it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle.", + "Move the palm-sized braided golden bread to the pan-shaped skillet with hole in handle using the left arm.", + "Pick up the braided top round bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the round braided loaf and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Take the braided top round bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the round braided loaf to the pan-shaped skillet with hole in handle.", + "Grab the braided top round bread and place it in the versatile skillet for frying and sauteing", + "Pick the palm-sized braided golden bread up and place it in the versatile skillet for frying and sauteing", + "Grab the braided top round bread and drop it into the dark skillet with shiny finish." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode46.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..3892df8ad1a76c2d98b19d71296cccb40ba3c59c --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bread block with light patches with the left arm and place in the dark gray skillet", + "Use the left arm to take the bread loaf with uneven edges and move it into the medium-sized frying skillet.", + "Use the left arm to pick the bread loaf with bumpy surface up for the smooth non-stick skillet", + "Grab the cuboid bread and drop it into the skillet for frying food", + "Grab the light golden brown bread from the table and set it in the dark gray skillet.", + "Move the hand-sized bread block into the metal skillet with comfortable grip from the table", + "Use the left arm to move the bread loaf with bumpy surface and set it into the dark gray skillet.", + "Take the bread block with light patches and put it in the round skillet with handle.", + "Use the left arm to grab the cuboid bread for the dark gray skillet", + "Set the bread loaf with uneven edges into the medium-sized frying skillet after grabbing", + "Lift the bread loaf with bumpy surface and drop it into the metal skillet with comfortable grip", + "Take the golden bread loaf and set it into the metal skillet with comfortable grip", + "Place the doughy and soft bread into the round skillet with open handle end using the left arm", + "Use the left arm to grab the bread with rough texture for the skillet with black cooking surface", + "Use the left arm to pick the doughy and soft bread for the medium-sized frying skillet", + "Pick the bread with rough texture with the left arm and set it in the black-surfaced skillet with gray sides", + "Use the left arm to stick the golden bread into the smooth non-stick skillet.", + "Pick the soft bread off the table and place it in the gray skillet for stovetop cooking.", + "Pick up the soft bread and put it in the round skillet with open handle end", + "Pick up the doughy and soft bread with the left arm and drop it in the flat-bottom skillet", + "Take the doughy and soft bread and place it inside the round skillet with handle", + "Place the hand-sized bread block from the table into the black-surfaced skillet with gray sides", + "Use the left arm to move the light golden brown bread into the smooth non-stick skillet", + "Use the left arm to grab the bread block with light patches and set it in the metal skillet with comfortable grip.", + "Pick the golden bread loaf and set it into the round skillet with handle.", + "Move the light golden brown bread from table into the round skillet with handle", + "Use the left arm to pick the hand-sized bread block and place it into the skillet for frying food.", + "Put the bread loaf with uneven edges into the metal skillet with comfortable grip after grabbing it", + "Use the left arm to set the square-shaped bread into the skillet for frying food.", + "Take the soft bread and drop it into the round skillet with handle.", + "Grab the hand-sized bread block and stick it in the round skillet with handle.", + "Move the golden bread loaf to the round skillet with handle using the left arm", + "Take the square-shaped bread and put it in the dark gray skillet.", + "Take the square-shaped bread and place it inside the skillet with black cooking surface", + "Pick up the bread with rough texture and place it in the skillet for frying food.", + "Transfer the hand-sized bread block into the skillet with black cooking surface from the table", + "Lift the doughy and soft bread using the left arm and move it to the round skillet with open handle end", + "Put the hand-sized bread block into the round skillet with open handle end.", + "Take the golden bread with the left arm and drop into the round skillet with open handle end", + "Use the left arm to pick the hand-sized bread block and put it in the gray skillet for stovetop cooking", + "Pick the light golden brown bread up using the left arm and drop it in the gray skillet for stovetop cooking.", + "Lift the cuboid bread and drop it into the round skillet with open handle end.", + "Grab the soft bread using the left arm and place it in the round skillet with handle", + "Grab the hand-sized bread block and place it inside the skillet for frying food", + "Take the bread loaf with uneven edges off the table into the flat-bottom skillet", + "Use the left arm to place the bread with rough texture into the flat-bottom skillet", + "Use the left arm to lift the soft bread and place it into the metal skillet with comfortable grip.", + "Pick the bread block with light patches and transfer it to the dark gray skillet", + "Grab the soft bread and place it inside the round skillet with handle.", + "Place the soft bread into the skillet with black cooking surface with the left arm.", + "Grab the soft bread with the left arm and place in the skillet with black cooking surface", + "Use the left arm to take the light golden brown bread and move it into the dark gray skillet.", + "Use the left arm to pick the golden bread up for the skillet with black cooking surface", + "Grab the bread loaf with uneven edges and drop it into the flat-bottom skillet", + "Grab the golden bread loaf from the table and set it in the metal skillet with comfortable grip.", + "Move the light golden brown bread into the black-surfaced skillet with gray sides from the table", + "Use the left arm to move the golden bread loaf and set it into the medium-sized frying skillet.", + "Take the golden bread and put it in the flat-bottom skillet.", + "Use the left arm to grab the golden bread for the metal skillet", + "Set the bread with rough texture into the round skillet with handle after grabbing", + "Lift the bread with rough texture and drop it into the smooth non-stick skillet", + "Take the light golden brown bread and set it into the flat-bottom skillet", + "Place the soft bread into the smooth non-stick skillet using the left arm", + "Use the left arm to grab the bread with rough texture for the skillet for frying food", + "Use the left arm to pick the soft bread for the metal skillet with comfortable grip", + "Pick the soft bread with the left arm and set it in the flat-bottom skillet", + "Use the left arm to stick the doughy and soft bread into the dark gray skillet.", + "Pick the golden bread off the table and place it in the smooth non-stick skillet.", + "Pick up the square-shaped bread and put it in the round skillet with handle", + "Pick up the bread loaf with bumpy surface with the left arm and drop it in the round skillet with handle", + "Take the hand-sized bread block and place it inside the skillet for frying food", + "Place the cuboid bread from the table into the gray skillet for stovetop cooking", + "Use the left arm to move the cuboid bread into the smooth non-stick skillet", + "Use the left arm to grab the light golden brown bread and set it in the dark gray skillet.", + "Pick the bread block with light patches and set it into the round skillet with handle.", + "Move the bread loaf with uneven edges from table into the round skillet with open handle end", + "Use the left arm to pick the golden bread loaf and place it into the smooth non-stick skillet.", + "Put the square-shaped bread into the skillet for frying food after grabbing it", + "Use the left arm to set the cuboid bread into the skillet for frying food.", + "Take the bread block with light patches and drop it into the flat-bottom skillet.", + "Grab the bread loaf with uneven edges and stick it in the gray skillet for stovetop cooking.", + "Move the soft bread to the gray skillet for stovetop cooking using the left arm", + "Take the bread loaf with bumpy surface and put it in the black-surfaced skillet with gray sides.", + "Take the light golden brown bread and place it inside the smooth non-stick skillet", + "Pick up the bread block with light patches and place it in the black-surfaced skillet with gray sides.", + "Transfer the bread block with light patches into the round skillet with open handle end from the table", + "Lift the soft bread using the left arm and move it to the medium-sized frying skillet", + "Put the golden bread loaf into the black-surfaced skillet with gray sides.", + "Take the square-shaped bread with the left arm and drop into the skillet for frying food", + "Use the left arm to pick the bread with rough texture and put it in the dark gray skillet", + "Pick the light golden brown bread up using the left arm and drop it in the metal skillet with comfortable grip.", + "Lift the square-shaped bread and drop it into the round skillet with handle.", + "Grab the bread block with light patches using the left arm and place it in the medium-sized frying skillet", + "Grab the square-shaped bread and place it inside the medium-sized frying skillet", + "Take the hand-sized bread block off the table into the skillet for frying food", + "Use the left arm to place the bread block with light patches into the metal skillet", + "Use the left arm to lift the cuboid bread and place it into the smooth non-stick skillet.", + "Pick the bread block with light patches and transfer it to the metal skillet", + "Grab the bread loaf with bumpy surface and place it inside the smooth non-stick skillet.", + "Place the bread loaf with bumpy surface into the metal skillet with comfortable grip with the left arm." + ], + "unseen": [ + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Use the left arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Use the left arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the left arm.", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Move the bread with golden crust to the dark skillet with shiny finish using the left arm.", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the left arm.", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Use the left arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Use the left arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Use the left arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Move the bread with golden crust to the dark skillet with shiny finish using the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode47.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..5698d84cd78402abbb9af3093fad7b4338bbac92 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the bread with golden-brown crust and put it in the black skillet with smooth base.", + "Place the smooth loaf with rounded edges from the table into the black pan with curved edges", + "Transfer the light brown bread with ridges into the smooth round pan made of iron from the table", + "Grab the golden bread loaf and stick it in the versatile skillet for stovetop cooking.", + "Use the left arm to move the small loaf with curved top into the versatile skillet for stovetop cooking", + "Take the soft brown bread and place it inside the medium black pan with handle", + "Grab the small golden brown bread and place it inside the versatile skillet for stovetop cooking", + "Take the light brown loaf with smooth sides off the table into the medium black pan with handle", + "Use the left arm to pick the bread with golden-brown crust and put it in the versatile skillet for stovetop cooking", + "Take the small loaf with curved top and put it in the round pan with hole in handle.", + "Place the hand-sized oval loaf into the round pan with hole in handle using the left arm", + "Move the bread with golden-brown crust into the smooth round pan made of iron from the table", + "Use the left arm to grab the bread with warm golden color for the smooth round pan made of iron", + "Pick the smooth loaf with rounded edges off the table and place it in the black skillet with smooth base.", + "Pick the small loaf with curved top and set it into the round cooking pan.", + "Grab the light brown bread with ridges from the table and set it in the black skillet with smooth base.", + "Take the small golden brown bread and place it inside the flat-bottomed skillet with long handle", + "Use the left arm to pick the bread with golden-brown crust up for the skillet with extended grip handle", + "Use the left arm to set the bread with warm golden color into the versatile skillet for stovetop cooking.", + "Take the light brown loaf with smooth sides and set it into the medium black pan with handle", + "Lift the light brown loaf with smooth sides using the left arm and move it to the smooth round pan made of iron", + "Pick the light brown bread with ridges up using the left arm and drop it in the flat-bottomed skillet with long handle.", + "Lift the light brown loaf with smooth sides and drop it into the black skillet with smooth base.", + "Lift the bread with split top and drop it into the skillet with extended grip handle", + "Use the left arm to grab the small loaf with curved top and set it in the medium black pan with handle.", + "Use the left arm to stick the small golden brown bread into the heavy black cooking skillet.", + "Use the left arm to pick the bread with split top for the versatile skillet for stovetop cooking", + "Pick the bread with split top with the left arm and set it in the flat-bottomed skillet with long handle", + "Put the light brown bread with ridges into the dark pan with sturdy grip.", + "Take the brown loaf with the left arm and drop into the heavy black cooking skillet", + "Set the light brown loaf with smooth sides into the black pan with curved edges after grabbing", + "Pick up the smooth loaf with rounded edges with the left arm and drop it in the skillet with extended grip handle", + "Move the bread with split top from table into the solid dark-colored round pan", + "Pick the smooth loaf with rounded edges and transfer it to the round cooking pan", + "Use the left arm to lift the smooth loaf with rounded edges and place it into the versatile skillet for stovetop cooking.", + "Use the left arm to grab the bread with warm golden color for the versatile skillet for stovetop cooking", + "Pick up the bread with split top and put it in the solid dark-colored round pan", + "Grab the brown loaf with the left arm and place in the versatile skillet for stovetop cooking", + "Use the left arm to take the hand-sized oval loaf and move it into the round pan with hole in handle.", + "Place the small golden brown bread into the black skillet with smooth base with the left arm.", + "Use the left arm to move the golden bread loaf and set it into the versatile skillet for stovetop cooking.", + "Use the left arm to place the bread with golden-brown crust into the heavy black cooking skillet", + "Grab the bread with warm golden color and drop it into the flat-bottomed skillet with long handle", + "Pick up the light brown loaf with smooth sides and place it in the dark pan with sturdy grip.", + "Grab the golden bread loaf using the left arm and place it in the heavy black cooking skillet", + "Move the small loaf with curved top to the round cooking pan using the left arm", + "Put the light brown loaf with smooth sides into the black skillet with smooth base after grabbing it", + "Take the small golden brown bread and drop it into the round pan with hole in handle.", + "Use the left arm to pick the brown loaf and place it into the round cooking pan.", + "Grab the bread with split top and place it inside the black skillet with smooth base.", + "Take the small golden brown bread and put it in the dark pan with sturdy grip.", + "Place the brown loaf from the table into the heavy black cooking skillet", + "Transfer the golden bread loaf into the dark pan with sturdy grip from the table", + "Grab the bread with warm golden color and stick it in the flat-bottomed skillet with long handle.", + "Use the left arm to move the brown loaf into the solid dark-colored round pan", + "Take the soft brown bread and place it inside the smooth round pan made of iron", + "Grab the smooth loaf with rounded edges and place it inside the black pan with curved edges", + "Take the bread with golden-brown crust off the table into the black skillet with smooth base", + "Use the left arm to pick the light brown loaf with smooth sides and put it in the dark pan with sturdy grip", + "Take the small loaf with curved top and put it in the round pan with hole in handle.", + "Place the small loaf with curved top into the flat-bottomed skillet with long handle using the left arm", + "Move the golden bread loaf into the round cooking pan from the table", + "Use the left arm to grab the small loaf with curved top for the versatile skillet for stovetop cooking", + "Pick the bread with split top off the table and place it in the medium black pan with handle.", + "Pick the small golden brown bread and set it into the flat-bottomed skillet with long handle.", + "Grab the small loaf with curved top from the table and set it in the solid dark-colored round pan.", + "Take the golden bread loaf and place it inside the round cooking pan", + "Use the left arm to pick the light brown loaf with smooth sides up for the skillet with extended grip handle", + "Use the left arm to set the golden bread loaf into the versatile skillet for stovetop cooking.", + "Take the light brown bread with ridges and set it into the dark pan with sturdy grip", + "Lift the light brown bread with ridges using the left arm and move it to the solid dark-colored round pan", + "Pick the golden bread loaf up using the left arm and drop it in the black skillet with smooth base.", + "Lift the bread with warm golden color and drop it into the smooth round pan made of iron.", + "Lift the bread with split top and drop it into the versatile skillet for stovetop cooking", + "Use the left arm to grab the smooth loaf with rounded edges and set it in the versatile skillet for stovetop cooking.", + "Use the left arm to stick the golden bread loaf into the versatile skillet for stovetop cooking.", + "Use the left arm to pick the hand-sized oval loaf for the versatile skillet for stovetop cooking", + "Pick the hand-sized oval loaf with the left arm and set it in the skillet with extended grip handle", + "Put the small loaf with curved top into the round cooking pan.", + "Take the bread with warm golden color with the left arm and drop into the skillet with extended grip handle", + "Set the small loaf with curved top into the black pan with curved edges after grabbing", + "Pick up the smooth loaf with rounded edges with the left arm and drop it in the dark pan with sturdy grip", + "Move the golden bread loaf from table into the dark pan with sturdy grip", + "Pick the hand-sized oval loaf and transfer it to the flat-bottomed skillet with long handle", + "Use the left arm to lift the bread with split top and place it into the smooth round pan made of iron.", + "Use the left arm to grab the small golden brown bread for the round pan with hole in handle", + "Pick up the hand-sized oval loaf and put it in the black pan with curved edges", + "Grab the bread with warm golden color with the left arm and place in the heavy black cooking skillet", + "Use the left arm to take the bread with golden-brown crust and move it into the skillet with extended grip handle.", + "Place the smooth loaf with rounded edges into the dark pan with sturdy grip with the left arm.", + "Use the left arm to move the brown loaf and set it into the solid dark-colored round pan.", + "Use the left arm to place the brown loaf into the medium black pan with handle", + "Grab the light brown bread with ridges and drop it into the round pan with hole in handle", + "Pick up the smooth loaf with rounded edges and place it in the flat-bottomed skillet with long handle.", + "Grab the soft brown bread using the left arm and place it in the flat-bottomed skillet with long handle", + "Move the small golden brown bread to the heavy black cooking skillet using the left arm", + "Put the bread with warm golden color into the heavy black cooking skillet after grabbing it", + "Take the small golden brown bread and drop it into the dark pan with sturdy grip.", + "Use the left arm to pick the hand-sized oval loaf and place it into the dark pan with sturdy grip.", + "Grab the smooth loaf with rounded edges and place it inside the smooth round pan made of iron." + ], + "unseen": [ + "Use the left arm to grab the oval bread and set it in the black skillet", + "Use the left arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Move the rounded oval bread to the iron skillet for frying foods using the left arm.", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Use the left arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Use the left arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Move the rounded oval bread to the iron skillet for frying foods using the left arm.", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Grab the rounded oval bread and place it in the black skillet", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Use the left arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Use the left arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Take the oval bread and put it in the iron skillet for frying foods", + "Grab the oval bread and set it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the black skillet", + "Grab the rounded oval bread and place it into the black skillet.", + "Move the oval bread to the black skillet using the left arm.", + "Grab the rounded oval bread and drop it into the black skillet.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Pick the oval bread up and place it in the black skillet", + "Use the left arm to grab the oval bread and set it in the round cast-iron skillet", + "Use the left arm to move the rounded oval bread to the round cast-iron skillet.", + "Take the oval bread and put it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Move the oval bread to the black skillet using the left arm.", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Use the left arm to grab the oval-shaped soft bread and set it in the black skillet", + "Use the left arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Move the oval-shaped soft bread to the round cast-iron skillet using the left arm.", + "Grab the oval bread and drop it into the black skillet.", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Use the left arm to grab the oval bread and set it in the iron skillet for frying foods", + "Use the left arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Grab the rounded oval bread and place it into the black skillet.", + "Move the oval-shaped soft bread to the black skillet using the left arm.", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Grab the rounded oval bread and place it in the black skillet", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Use the left arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Use the left arm to move the oval-shaped soft bread to the black skillet.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Pick up the oval bread and drop it into the black skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Move the rounded oval bread to the black skillet using the left arm.", + "Grab the oval bread and drop it into the black skillet.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Use the left arm to grab the oval bread and set it in the iron skillet for frying foods", + "Use the left arm to move the oval bread to the round cast-iron skillet.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Move the oval bread to the round cast-iron skillet using the left arm.", + "Grab the oval bread and drop it into the iron skillet for frying foods.", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Use the left arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Use the left arm to move the rounded oval bread to the round cast-iron skillet.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Grab the oval bread and place it into the black skillet.", + "Move the rounded oval bread to the round cast-iron skillet using the left arm.", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the black skillet", + "Use the left arm to grab the oval bread and set it in the black skillet", + "Use the left arm to move the oval bread to the iron skillet for frying foods.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Move the rounded oval bread to the black skillet using the left arm.", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Grab the rounded oval bread and place it in the black skillet", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode48.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..7cb38853667d2517acbd8a9e3110cf4ad8e2920a --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put the hand-sized bread block into the heavy black cooking skillet after grabbing it", + "Move the bread with rough texture to the black skillet with smooth base using the left arm", + "Use the left arm to pick the cuboid bread and put it in the flat-bottomed skillet with long handle", + "Move the hand-sized bread block from table into the black skillet with smooth base", + "Use the left arm to grab the bread loaf with uneven edges for the medium black pan with handle", + "Pick the doughy and soft bread up using the left arm and drop it in the dark pan with sturdy grip.", + "Move the golden bread loaf into the smooth round pan made of iron from the table", + "Take the bread loaf with bumpy surface with the left arm and drop into the skillet with extended grip handle", + "Set the bread with rough texture into the skillet with extended grip handle after grabbing", + "Use the left arm to move the bread loaf with bumpy surface into the skillet with extended grip handle", + "Grab the light golden brown bread and stick it in the round pan with hole in handle.", + "Use the left arm to grab the doughy and soft bread for the medium black pan with handle", + "Pick up the hand-sized bread block and place it in the medium black pan with handle.", + "Lift the hand-sized bread block and drop it into the round pan with hole in handle", + "Take the bread loaf with uneven edges off the table into the skillet with extended grip handle", + "Pick up the bread loaf with bumpy surface and put it in the medium black pan with handle", + "Use the left arm to move the soft bread and set it into the dark pan with sturdy grip.", + "Grab the bread loaf with uneven edges and drop it into the skillet with extended grip handle", + "Pick the bread loaf with bumpy surface and set it into the black pan with curved edges.", + "Use the left arm to pick the bread with rough texture and place it into the solid dark-colored round pan.", + "Use the left arm to set the hand-sized bread block into the round pan with hole in handle.", + "Place the golden bread into the black pan with curved edges using the left arm", + "Grab the bread loaf with uneven edges with the left arm and place in the round cooking pan", + "Grab the bread loaf with uneven edges using the left arm and place it in the heavy black cooking skillet", + "Grab the hand-sized bread block and place it inside the round pan with hole in handle", + "Lift the golden bread loaf and drop it into the skillet with extended grip handle.", + "Use the left arm to stick the golden bread loaf into the heavy black cooking skillet.", + "Pick the soft bread with the left arm and set it in the skillet with extended grip handle", + "Use the left arm to pick the bread loaf with bumpy surface up for the round pan with hole in handle", + "Take the cuboid bread and set it into the black pan with curved edges", + "Grab the doughy and soft bread and place it inside the round pan with hole in handle.", + "Take the square-shaped bread and put it in the medium black pan with handle.", + "Grab the doughy and soft bread from the table and set it in the black pan with curved edges.", + "Take the golden bread loaf and put it in the heavy black cooking skillet.", + "Take the golden bread and place it inside the solid dark-colored round pan", + "Pick the square-shaped bread and transfer it to the skillet with extended grip handle", + "Use the left arm to place the bread loaf with uneven edges into the round pan with hole in handle", + "Use the left arm to take the bread loaf with bumpy surface and move it into the dark pan with sturdy grip.", + "Take the square-shaped bread and place it inside the heavy black cooking skillet", + "Put the hand-sized bread block into the heavy black cooking skillet.", + "Lift the golden bread using the left arm and move it to the medium black pan with handle", + "Transfer the cuboid bread into the versatile skillet for stovetop cooking from the table", + "Use the left arm to grab the bread with rough texture and set it in the black skillet with smooth base.", + "Place the golden bread from the table into the heavy black cooking skillet", + "Take the bread loaf with bumpy surface and drop it into the round cooking pan.", + "Use the left arm to lift the hand-sized bread block and place it into the round pan with hole in handle.", + "Pick up the bread block with light patches with the left arm and drop it in the black skillet with smooth base", + "Use the left arm to pick the light golden brown bread for the round pan with hole in handle", + "Place the bread loaf with bumpy surface into the flat-bottomed skillet with long handle with the left arm.", + "Pick the golden bread off the table and place it in the round cooking pan.", + "Put the golden bread loaf into the round pan with hole in handle after grabbing it", + "Move the bread loaf with bumpy surface to the black skillet with smooth base using the left arm", + "Use the left arm to pick the bread loaf with uneven edges and put it in the flat-bottomed skillet with long handle", + "Move the cuboid bread from table into the solid dark-colored round pan", + "Use the left arm to grab the golden bread loaf for the round pan with hole in handle", + "Pick the light golden brown bread up using the left arm and drop it in the black skillet with smooth base.", + "Move the bread block with light patches into the smooth round pan made of iron from the table", + "Take the soft bread with the left arm and drop into the medium black pan with handle", + "Set the golden bread loaf into the round cooking pan after grabbing", + "Use the left arm to move the bread block with light patches into the skillet with extended grip handle", + "Grab the bread loaf with uneven edges and stick it in the versatile skillet for stovetop cooking.", + "Use the left arm to grab the cuboid bread for the smooth round pan made of iron", + "Pick up the bread loaf with bumpy surface and place it in the versatile skillet for stovetop cooking.", + "Lift the bread loaf with uneven edges and drop it into the dark pan with sturdy grip", + "Take the bread loaf with uneven edges off the table into the versatile skillet for stovetop cooking", + "Pick up the square-shaped bread and put it in the skillet with extended grip handle", + "Use the left arm to move the doughy and soft bread and set it into the round cooking pan.", + "Grab the bread with rough texture and drop it into the solid dark-colored round pan", + "Pick the bread loaf with bumpy surface and set it into the black skillet with smooth base.", + "Use the left arm to pick the golden bread loaf and place it into the black skillet with smooth base.", + "Use the left arm to set the bread loaf with uneven edges into the black pan with curved edges.", + "Place the doughy and soft bread into the heavy black cooking skillet using the left arm", + "Grab the hand-sized bread block with the left arm and place in the solid dark-colored round pan", + "Grab the bread loaf with bumpy surface using the left arm and place it in the medium black pan with handle", + "Grab the square-shaped bread and place it inside the dark pan with sturdy grip", + "Lift the hand-sized bread block and drop it into the medium black pan with handle.", + "Use the left arm to stick the bread loaf with uneven edges into the smooth round pan made of iron.", + "Pick the golden bread with the left arm and set it in the dark pan with sturdy grip", + "Use the left arm to pick the hand-sized bread block up for the black skillet with smooth base", + "Take the soft bread and set it into the skillet with extended grip handle", + "Grab the golden bread loaf and place it inside the medium black pan with handle.", + "Take the hand-sized bread block and put it in the black pan with curved edges.", + "Grab the golden bread loaf from the table and set it in the smooth round pan made of iron.", + "Take the cuboid bread and put it in the dark pan with sturdy grip.", + "Take the bread loaf with uneven edges and place it inside the black skillet with smooth base", + "Pick the square-shaped bread and transfer it to the dark pan with sturdy grip", + "Use the left arm to place the doughy and soft bread into the smooth round pan made of iron", + "Use the left arm to take the golden bread and move it into the black skillet with smooth base.", + "Take the hand-sized bread block and place it inside the solid dark-colored round pan", + "Put the golden bread into the solid dark-colored round pan.", + "Lift the hand-sized bread block using the left arm and move it to the round pan with hole in handle", + "Transfer the golden bread into the versatile skillet for stovetop cooking from the table", + "Use the left arm to grab the square-shaped bread and set it in the versatile skillet for stovetop cooking.", + "Place the square-shaped bread from the table into the round cooking pan", + "Take the golden bread loaf and drop it into the smooth round pan made of iron.", + "Use the left arm to lift the cuboid bread and place it into the heavy black cooking skillet.", + "Pick up the golden bread loaf with the left arm and drop it in the solid dark-colored round pan", + "Use the left arm to pick the bread block with light patches for the flat-bottomed skillet with long handle", + "Place the bread loaf with uneven edges into the heavy black cooking skillet with the left arm.", + "Pick the soft bread off the table and place it in the heavy black cooking skillet." + ], + "unseen": [ + "Use the left arm to move the bread with golden crust to the round cast-iron skillet.", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Use the left arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Move the bread with golden crust to the black skillet using the left arm.", + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it in the black skillet", + "Use the left arm to move the bread loaf with soft surface to the iron skillet for frying foods.", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the black skillet", + "Grab the rectangular bread loaf and drop it into the black skillet.", + "Use the left arm to grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Move the rectangular bread loaf to the black skillet using the left arm.", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Use the left arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Use the left arm to grab the bread with golden crust and set it in the black skillet", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Take the rectangular bread loaf and put it in the round cast-iron skillet", + "Move the bread with golden crust to the iron skillet for frying foods using the left arm.", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it in the iron skillet for frying foods", + "Use the left arm to move the rectangular bread loaf to the round cast-iron skillet.", + "Pick up the bread loaf with soft surface and drop it into the round cast-iron skillet", + "Grab the bread loaf with soft surface and set it in the black skillet", + "Grab the bread with golden crust and drop it into the black skillet.", + "Use the left arm to grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the bread with golden crust and place it into the round cast-iron skillet.", + "Take the bread with golden crust and put it in the round cast-iron skillet", + "Move the bread loaf with soft surface to the black skillet using the left arm.", + "Pick the bread with golden crust up and place it in the black skillet", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Use the left arm to move the bread with golden crust to the black skillet.", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Use the left arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Move the bread with golden crust to the black skillet using the left arm.", + "Pick the bread with golden crust up and place it in the round cast-iron skillet", + "Grab the bread with golden crust and place it in the iron skillet for frying foods", + "Use the left arm to move the bread with golden crust to the iron skillet for frying foods.", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the black skillet", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Use the left arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Take the rectangular bread loaf and put it in the black skillet", + "Move the rectangular bread loaf to the round cast-iron skillet using the left arm.", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it in the black skillet", + "Use the left arm to move the bread with golden crust to the iron skillet for frying foods.", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Grab the bread loaf with soft surface and set it in the black skillet", + "Grab the bread with golden crust and drop it into the black skillet.", + "Use the left arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the bread with golden crust and place it into the round cast-iron skillet.", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Move the bread loaf with soft surface to the black skillet using the left arm.", + "Pick the bread with golden crust up and place it in the black skillet", + "Grab the bread loaf with soft surface and place it in the iron skillet for frying foods", + "Use the left arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Pick up the bread with golden crust and drop it into the iron skillet for frying foods", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Use the left arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Take the rectangular bread loaf and put it in the black skillet", + "Move the bread with golden crust to the iron skillet for frying foods using the left arm.", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Use the left arm to move the bread loaf with soft surface to the black skillet.", + "Pick up the bread with golden crust and drop it into the black skillet", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Grab the bread with golden crust and drop it into the black skillet.", + "Use the left arm to grab the bread with golden crust and set it in the black skillet", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Take the rectangular bread loaf and put it in the iron skillet for frying foods", + "Move the bread loaf with soft surface to the iron skillet for frying foods using the left arm.", + "Pick the bread with golden crust up and place it in the black skillet", + "Grab the rectangular bread loaf and place it in the black skillet", + "Use the left arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the bread with golden crust and drop it into the black skillet.", + "Use the left arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Take the bread loaf with soft surface and put it in the black skillet", + "Move the bread loaf with soft surface to the iron skillet for frying foods using the left arm.", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Grab the bread with golden crust and place it in the iron skillet for frying foods" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode49.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..a182fc403c4e5d448a59f2617a0bc6bb26902137 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the fluffy baked bread and set it into the flat-bottomed skillet with long handle", + "Use the left arm to pick the square-shaped bread piece for the round pan with hole in handle", + "Pick the fluffy baked bread up using the left arm and drop it in the medium black pan with handle.", + "Transfer the rounded square loaf into the dark pan with sturdy grip from the table", + "Use the left arm to pick the rounded square loaf and place it into the flat-bottomed skillet with long handle.", + "Place the golden baked bread from the table into the round pan with hole in handle", + "Grab the golden brown bread and place it inside the medium black pan with handle", + "Use the left arm to stick the sponge-textured golden bread into the skillet with extended grip handle.", + "Use the left arm to place the golden baked bread into the heavy black cooking skillet", + "Pick the golden baked bread off the table and place it in the medium black pan with handle.", + "Take the light brown porous bread and place it inside the smooth round pan made of iron", + "Take the rounded square loaf and place it inside the versatile skillet for stovetop cooking", + "Lift the bread with soft texture and drop it into the round pan with hole in handle", + "Pick up the rounded square loaf and place it in the versatile skillet for stovetop cooking.", + "Use the left arm to lift the rounded square loaf and place it into the black skillet with smooth base.", + "Pick the light brown porous bread and set it into the medium black pan with handle.", + "Grab the fluffy baked bread and drop it into the medium black pan with handle", + "Pick the square-shaped bread piece and transfer it to the black pan with curved edges", + "Set the golden baked bread into the black skillet with smooth base after grabbing", + "Use the left arm to grab the medium-sized bread piece and set it in the round pan with hole in handle.", + "Use the left arm to move the golden brown bread and set it into the versatile skillet for stovetop cooking.", + "Pick up the sponge-textured golden bread with the left arm and drop it in the heavy black cooking skillet", + "Put the rounded square loaf into the solid dark-colored round pan after grabbing it", + "Use the left arm to move the sponge-textured golden bread into the smooth round pan made of iron", + "Take the sponge-textured golden bread with the left arm and drop into the heavy black cooking skillet", + "Pick the golden baked bread with the left arm and set it in the versatile skillet for stovetop cooking", + "Put the bread with rounded edges into the round cooking pan.", + "Use the left arm to pick the light brown porous bread up for the medium black pan with handle", + "Move the bread with soft texture from table into the round cooking pan", + "Grab the medium-sized bread piece using the left arm and place it in the versatile skillet for stovetop cooking", + "Use the left arm to grab the light brown porous bread for the black skillet with smooth base", + "Grab the golden baked bread and place it inside the smooth round pan made of iron.", + "Use the left arm to take the rounded square loaf and move it into the dark pan with sturdy grip.", + "Lift the medium-sized bread piece and drop it into the flat-bottomed skillet with long handle.", + "Grab the golden brown bread and stick it in the medium black pan with handle.", + "Grab the light brown porous bread with the left arm and place in the round pan with hole in handle", + "Place the bread with rounded edges into the black pan with curved edges with the left arm.", + "Use the left arm to set the fluffy baked bread into the black pan with curved edges.", + "Take the golden baked bread off the table into the solid dark-colored round pan", + "Move the medium-sized bread piece into the medium black pan with handle from the table", + "Take the rounded square loaf and drop it into the black skillet with smooth base.", + "Pick up the sponge-textured golden bread and put it in the round pan with hole in handle", + "Move the soft square bread to the heavy black cooking skillet using the left arm", + "Lift the bread with soft texture using the left arm and move it to the black skillet with smooth base", + "Use the left arm to pick the medium bread with rounded sides and put it in the round cooking pan", + "Use the left arm to grab the bread with rounded edges for the skillet with extended grip handle", + "Take the golden brown bread and put it in the solid dark-colored round pan.", + "Take the sponge-textured golden bread and put it in the medium black pan with handle.", + "Grab the medium bread with rounded sides from the table and set it in the versatile skillet for stovetop cooking.", + "Place the square-shaped bread piece into the black pan with curved edges using the left arm", + "Take the bread with soft texture and set it into the round cooking pan", + "Use the left arm to pick the medium bread with rounded sides for the smooth round pan made of iron", + "Pick the soft square bread up using the left arm and drop it in the solid dark-colored round pan.", + "Transfer the medium bread with rounded sides into the round cooking pan from the table", + "Use the left arm to pick the sponge-textured golden bread and place it into the black pan with curved edges.", + "Place the fluffy baked bread from the table into the round cooking pan", + "Grab the bread with soft texture and place it inside the dark pan with sturdy grip", + "Use the left arm to stick the golden brown bread into the round pan with hole in handle.", + "Use the left arm to place the soft square bread into the skillet with extended grip handle", + "Pick the bread with rounded edges off the table and place it in the skillet with extended grip handle.", + "Take the golden brown bread and place it inside the skillet with extended grip handle", + "Take the light brown porous bread and place it inside the round cooking pan", + "Lift the soft square bread and drop it into the dark pan with sturdy grip", + "Pick up the fluffy baked bread and place it in the medium black pan with handle.", + "Use the left arm to lift the sponge-textured golden bread and place it into the medium black pan with handle.", + "Pick the medium bread with rounded sides and set it into the versatile skillet for stovetop cooking.", + "Grab the bread with soft texture and drop it into the versatile skillet for stovetop cooking", + "Pick the square-shaped bread piece and transfer it to the smooth round pan made of iron", + "Set the medium-sized bread piece into the skillet with extended grip handle after grabbing", + "Use the left arm to grab the golden brown bread and set it in the round pan with hole in handle.", + "Use the left arm to move the golden baked bread and set it into the heavy black cooking skillet.", + "Pick up the sponge-textured golden bread with the left arm and drop it in the black pan with curved edges", + "Put the soft square bread into the versatile skillet for stovetop cooking after grabbing it", + "Use the left arm to move the golden brown bread into the flat-bottomed skillet with long handle", + "Take the golden brown bread with the left arm and drop into the flat-bottomed skillet with long handle", + "Pick the sponge-textured golden bread with the left arm and set it in the medium black pan with handle", + "Put the golden baked bread into the versatile skillet for stovetop cooking.", + "Use the left arm to pick the square-shaped bread piece up for the skillet with extended grip handle", + "Move the bread with soft texture from table into the dark pan with sturdy grip", + "Grab the bread with soft texture using the left arm and place it in the black pan with curved edges", + "Use the left arm to grab the bread with soft texture for the dark pan with sturdy grip", + "Grab the medium bread with rounded sides and place it inside the versatile skillet for stovetop cooking.", + "Use the left arm to take the bread with rounded edges and move it into the dark pan with sturdy grip.", + "Lift the fluffy baked bread and drop it into the round pan with hole in handle.", + "Grab the bread with rounded edges and stick it in the medium black pan with handle.", + "Grab the golden baked bread with the left arm and place in the dark pan with sturdy grip", + "Place the golden brown bread into the flat-bottomed skillet with long handle with the left arm.", + "Use the left arm to set the medium bread with rounded sides into the flat-bottomed skillet with long handle.", + "Take the fluffy baked bread off the table into the round pan with hole in handle", + "Move the square-shaped bread piece into the dark pan with sturdy grip from the table", + "Take the bread with soft texture and drop it into the round cooking pan.", + "Pick up the sponge-textured golden bread and put it in the dark pan with sturdy grip", + "Move the square-shaped bread piece to the medium black pan with handle using the left arm", + "Lift the golden brown bread using the left arm and move it to the medium black pan with handle", + "Use the left arm to pick the sponge-textured golden bread and put it in the black skillet with smooth base", + "Use the left arm to grab the bread with rounded edges for the versatile skillet for stovetop cooking", + "Take the golden baked bread and put it in the round pan with hole in handle.", + "Take the golden brown bread and put it in the dark pan with sturdy grip.", + "Grab the bread with soft texture from the table and set it in the solid dark-colored round pan.", + "Place the rounded square loaf into the black pan with curved edges using the left arm" + ], + "unseen": [ + "Use the left arm to grab the spongy golden brown bread and set it in the black skillet", + "Grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it in the iron skillet for frying foods", + "Use the left arm to move the soft bread with golden edges to the black skillet.", + "Pick up the square bread with light spots and drop it into the round cast-iron skillet", + "Grab the soft bread with golden edges and drop it into the black skillet.", + "Pick the soft bread with golden edges up and place it in the iron skillet for frying foods", + "Grab the square bread with light spots and place it into the round cast-iron skillet.", + "Take the square bread with light spots and put it in the iron skillet for frying foods", + "Move the square bread with light spots to the iron skillet for frying foods using the left arm.", + "Use the left arm to grab the square bread with light spots and set it in the black skillet", + "Grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it in the iron skillet for frying foods", + "Use the left arm to move the soft bread with golden edges to the black skillet.", + "Pick up the spongy golden brown bread and drop it into the iron skillet for frying foods", + "Grab the square bread with light spots and drop it into the black skillet.", + "Pick the soft bread with golden edges up and place it in the black skillet", + "Grab the square bread with light spots and place it into the round cast-iron skillet.", + "Take the spongy golden brown bread and put it in the black skillet", + "Move the square bread with light spots to the round cast-iron skillet using the left arm.", + "Use the left arm to grab the spongy golden brown bread and set it in the black skillet", + "Grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Grab the soft bread with golden edges and place it in the round cast-iron skillet", + "Use the left arm to move the soft bread with golden edges to the black skillet.", + "Pick up the square bread with light spots and drop it into the iron skillet for frying foods", + "Grab the spongy golden brown bread and drop it into the black skillet.", + "Pick the soft bread with golden edges up and place it in the iron skillet for frying foods", + "Grab the square bread with light spots and place it into the black skillet.", + "Take the spongy golden brown bread and put it in the black skillet", + "Move the spongy golden brown bread to the iron skillet for frying foods using the left arm.", + "Use the left arm to grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Grab the square bread with light spots and set it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it in the round cast-iron skillet", + "Use the left arm to move the spongy golden brown bread to the black skillet.", + "Pick up the soft bread with golden edges and drop it into the iron skillet for frying foods", + "Grab the spongy golden brown bread and drop it into the iron skillet for frying foods.", + "Pick the soft bread with golden edges up and place it in the round cast-iron skillet", + "Grab the square bread with light spots and place it into the iron skillet for frying foods.", + "Take the square bread with light spots and put it in the black skillet", + "Move the square bread with light spots to the round cast-iron skillet using the left arm.", + "Use the left arm to grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Grab the square bread with light spots and set it in the iron skillet for frying foods", + "Grab the square bread with light spots and place it in the iron skillet for frying foods", + "Use the left arm to move the square bread with light spots to the black skillet.", + "Pick up the soft bread with golden edges and drop it into the iron skillet for frying foods", + "Grab the soft bread with golden edges and drop it into the round cast-iron skillet.", + "Pick the soft bread with golden edges up and place it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it into the iron skillet for frying foods.", + "Take the spongy golden brown bread and put it in the iron skillet for frying foods", + "Move the spongy golden brown bread to the round cast-iron skillet using the left arm.", + "Use the left arm to grab the spongy golden brown bread and set it in the black skillet", + "Grab the soft bread with golden edges and set it in the black skillet", + "Grab the soft bread with golden edges and place it in the round cast-iron skillet", + "Use the left arm to move the square bread with light spots to the black skillet.", + "Pick up the square bread with light spots and drop it into the black skillet", + "Grab the spongy golden brown bread and drop it into the iron skillet for frying foods.", + "Pick the square bread with light spots up and place it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it into the black skillet.", + "Take the square bread with light spots and put it in the round cast-iron skillet", + "Move the square bread with light spots to the black skillet using the left arm.", + "Use the left arm to grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Grab the square bread with light spots and set it in the iron skillet for frying foods", + "Grab the soft bread with golden edges and place it in the round cast-iron skillet", + "Use the left arm to move the soft bread with golden edges to the black skillet.", + "Pick up the spongy golden brown bread and drop it into the round cast-iron skillet", + "Grab the soft bread with golden edges and drop it into the black skillet.", + "Pick the spongy golden brown bread up and place it in the black skillet", + "Grab the square bread with light spots and place it into the iron skillet for frying foods.", + "Take the spongy golden brown bread and put it in the iron skillet for frying foods", + "Move the square bread with light spots to the black skillet using the left arm.", + "Use the left arm to grab the spongy golden brown bread and set it in the black skillet", + "Grab the square bread with light spots and set it in the black skillet", + "Grab the soft bread with golden edges and place it in the iron skillet for frying foods", + "Use the left arm to move the square bread with light spots to the black skillet.", + "Pick up the soft bread with golden edges and drop it into the black skillet", + "Grab the square bread with light spots and drop it into the round cast-iron skillet.", + "Pick the spongy golden brown bread up and place it in the black skillet", + "Grab the square bread with light spots and place it into the round cast-iron skillet.", + "Take the square bread with light spots and put it in the round cast-iron skillet", + "Move the spongy golden brown bread to the round cast-iron skillet using the left arm.", + "Use the left arm to grab the square bread with light spots and set it in the iron skillet for frying foods", + "Grab the spongy golden brown bread and set it in the black skillet", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Use the left arm to move the square bread with light spots to the round cast-iron skillet.", + "Pick up the soft bread with golden edges and drop it into the iron skillet for frying foods", + "Grab the square bread with light spots and drop it into the black skillet.", + "Pick the square bread with light spots up and place it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it into the black skillet.", + "Take the square bread with light spots and put it in the iron skillet for frying foods", + "Move the soft bread with golden edges to the black skillet using the left arm.", + "Use the left arm to grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it in the round cast-iron skillet", + "Use the left arm to move the soft bread with golden edges to the black skillet.", + "Pick up the square bread with light spots and drop it into the black skillet", + "Grab the square bread with light spots and drop it into the iron skillet for frying foods.", + "Pick the spongy golden brown bread up and place it in the iron skillet for frying foods", + "Grab the soft bread with golden edges and place it into the iron skillet for frying foods.", + "Take the square bread with light spots and put it in the round cast-iron skillet", + "Move the soft bread with golden edges to the black skillet using the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode5.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..fdd7b02b0f6e1af7bd8c4a667a12b718fd6dbd8b --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to place the brown loaf into the skillet with extended grip handle", + "Grab the small golden brown bread and place it inside the black pan with curved edges.", + "Pick the small loaf with curved top up using the right arm and drop it in the smooth round pan made of iron.", + "Grab the bread with golden-brown crust and place it inside the medium black pan with handle", + "Take the bread with warm golden color off the table into the medium black pan with handle", + "Place the smooth loaf with rounded edges into the black skillet with smooth base with the right arm.", + "Use the right arm to grab the small golden brown bread for the black skillet with smooth base", + "Place the soft brown bread into the skillet with extended grip handle using the right arm", + "Transfer the smooth loaf with rounded edges into the solid dark-colored round pan from the table", + "Place the hand-sized oval loaf from the table into the heavy black cooking skillet", + "Move the bread with split top from table into the medium black pan with handle", + "Grab the smooth loaf with rounded edges from the table and set it in the solid dark-colored round pan.", + "Take the hand-sized oval loaf and drop it into the flat-bottomed skillet with long handle.", + "Take the bread with split top with the right arm and drop into the medium black pan with handle", + "Use the right arm to lift the light brown bread with ridges and place it into the medium black pan with handle.", + "Use the right arm to take the golden bread loaf and move it into the black skillet with smooth base.", + "Set the bread with warm golden color into the black skillet with smooth base after grabbing", + "Pick up the soft brown bread with the right arm and drop it in the round cooking pan", + "Use the right arm to pick the golden bread loaf and put it in the skillet with extended grip handle", + "Move the brown loaf into the round cooking pan from the table", + "Use the right arm to stick the small golden brown bread into the medium black pan with handle.", + "Use the right arm to set the hand-sized oval loaf into the black skillet with smooth base.", + "Pick the bread with split top and set it into the solid dark-colored round pan.", + "Grab the bread with warm golden color and stick it in the versatile skillet for stovetop cooking.", + "Use the right arm to grab the hand-sized oval loaf for the solid dark-colored round pan", + "Lift the bread with warm golden color and drop it into the black skillet with smooth base.", + "Pick the small loaf with curved top and transfer it to the heavy black cooking skillet", + "Move the light brown loaf with smooth sides to the smooth round pan made of iron using the right arm", + "Pick up the hand-sized oval loaf and place it in the solid dark-colored round pan.", + "Use the right arm to move the small golden brown bread and set it into the black skillet with smooth base.", + "Lift the smooth loaf with rounded edges using the right arm and move it to the dark pan with sturdy grip", + "Put the hand-sized oval loaf into the heavy black cooking skillet.", + "Pick the bread with golden-brown crust with the right arm and set it in the heavy black cooking skillet", + "Take the bread with golden-brown crust and place it inside the medium black pan with handle", + "Use the right arm to pick the golden bread loaf up for the heavy black cooking skillet", + "Take the bread with split top and put it in the heavy black cooking skillet.", + "Use the right arm to pick the bread with warm golden color for the round cooking pan", + "Take the small golden brown bread and place it inside the skillet with extended grip handle", + "Take the bread with warm golden color and put it in the solid dark-colored round pan.", + "Use the right arm to grab the soft brown bread and set it in the black skillet with smooth base.", + "Grab the brown loaf and drop it into the round pan with hole in handle", + "Pick the golden bread loaf off the table and place it in the medium black pan with handle.", + "Grab the small loaf with curved top using the right arm and place it in the heavy black cooking skillet", + "Use the right arm to pick the hand-sized oval loaf and place it into the round pan with hole in handle.", + "Take the smooth loaf with rounded edges and set it into the round cooking pan", + "Pick up the small loaf with curved top and put it in the smooth round pan made of iron", + "Use the right arm to move the soft brown bread into the round pan with hole in handle", + "Put the light brown bread with ridges into the smooth round pan made of iron after grabbing it", + "Lift the bread with warm golden color and drop it into the round cooking pan", + "Grab the bread with golden-brown crust with the right arm and place in the black pan with curved edges", + "Use the right arm to place the soft brown bread into the round cooking pan", + "Grab the light brown loaf with smooth sides and place it inside the versatile skillet for stovetop cooking.", + "Pick the small golden brown bread up using the right arm and drop it in the skillet with extended grip handle.", + "Grab the soft brown bread and place it inside the versatile skillet for stovetop cooking", + "Take the smooth loaf with rounded edges off the table into the versatile skillet for stovetop cooking", + "Place the light brown bread with ridges into the round pan with hole in handle with the right arm.", + "Use the right arm to grab the bread with split top for the heavy black cooking skillet", + "Place the golden bread loaf into the heavy black cooking skillet using the right arm", + "Transfer the small golden brown bread into the flat-bottomed skillet with long handle from the table", + "Place the bread with warm golden color from the table into the dark pan with sturdy grip", + "Move the smooth loaf with rounded edges from table into the versatile skillet for stovetop cooking", + "Grab the light brown bread with ridges from the table and set it in the smooth round pan made of iron.", + "Take the small loaf with curved top and drop it into the round cooking pan.", + "Take the bread with warm golden color with the right arm and drop into the round pan with hole in handle", + "Use the right arm to lift the bread with warm golden color and place it into the flat-bottomed skillet with long handle.", + "Use the right arm to take the golden bread loaf and move it into the round pan with hole in handle.", + "Set the brown loaf into the skillet with extended grip handle after grabbing", + "Pick up the soft brown bread with the right arm and drop it in the skillet with extended grip handle", + "Use the right arm to pick the small loaf with curved top and put it in the smooth round pan made of iron", + "Move the light brown loaf with smooth sides into the versatile skillet for stovetop cooking from the table", + "Use the right arm to stick the small golden brown bread into the round pan with hole in handle.", + "Use the right arm to set the light brown loaf with smooth sides into the dark pan with sturdy grip.", + "Pick the bread with split top and set it into the round pan with hole in handle.", + "Grab the bread with golden-brown crust and stick it in the versatile skillet for stovetop cooking.", + "Use the right arm to grab the bread with golden-brown crust for the medium black pan with handle", + "Lift the bread with split top and drop it into the black skillet with smooth base.", + "Pick the hand-sized oval loaf and transfer it to the smooth round pan made of iron", + "Move the small golden brown bread to the round cooking pan using the right arm", + "Pick up the small loaf with curved top and place it in the smooth round pan made of iron.", + "Use the right arm to move the soft brown bread and set it into the dark pan with sturdy grip.", + "Lift the bread with warm golden color using the right arm and move it to the black skillet with smooth base", + "Put the bread with split top into the round cooking pan.", + "Pick the hand-sized oval loaf with the right arm and set it in the flat-bottomed skillet with long handle", + "Take the soft brown bread and place it inside the dark pan with sturdy grip", + "Use the right arm to pick the bread with golden-brown crust up for the black skillet with smooth base", + "Take the brown loaf and put it in the black skillet with smooth base.", + "Use the right arm to pick the light brown loaf with smooth sides for the black pan with curved edges", + "Take the hand-sized oval loaf and place it inside the smooth round pan made of iron", + "Take the brown loaf and put it in the medium black pan with handle.", + "Use the right arm to grab the bread with split top and set it in the black skillet with smooth base.", + "Grab the bread with warm golden color and drop it into the smooth round pan made of iron", + "Pick the brown loaf off the table and place it in the flat-bottomed skillet with long handle.", + "Grab the soft brown bread using the right arm and place it in the dark pan with sturdy grip", + "Use the right arm to pick the light brown bread with ridges and place it into the smooth round pan made of iron.", + "Take the brown loaf and set it into the round pan with hole in handle", + "Pick up the small golden brown bread and put it in the versatile skillet for stovetop cooking", + "Use the right arm to move the hand-sized oval loaf into the heavy black cooking skillet", + "Put the golden bread loaf into the medium black pan with handle after grabbing it", + "Lift the hand-sized oval loaf and drop it into the skillet with extended grip handle", + "Grab the golden bread loaf with the right arm and place in the skillet with extended grip handle" + ], + "unseen": [ + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Take the oval bread and put it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the iron skillet for frying foods.", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Grab the oval bread and set it in the round cast-iron skillet", + "Use the right arm to move the rounded oval bread to the black skillet.", + "Move the rounded oval bread to the black skillet using the right arm.", + "Grab the rounded oval bread and place it in the black skillet", + "Take the oval bread and put it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the black skillet.", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Pick the rounded oval bread up and place it in the black skillet", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Grab the oval bread and set it in the black skillet", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Move the oval bread to the black skillet using the right arm.", + "Grab the oval bread and place it in the round cast-iron skillet", + "Take the rounded oval bread and put it in the black skillet", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Grab the oval bread and set it in the black skillet", + "Use the right arm to move the oval bread to the iron skillet for frying foods.", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Grab the rounded oval bread and place it in the black skillet", + "Take the rounded oval bread and put it in the black skillet", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the black skillet", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Grab the rounded oval bread and set it in the black skillet", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Take the oval bread and put it in the black skillet", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Pick the oval bread up and place it in the black skillet", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Move the rounded oval bread to the black skillet using the right arm.", + "Grab the rounded oval bread and place it in the black skillet", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Grab the rounded oval bread and set it in the black skillet", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Grab the rounded oval bread and place it in the black skillet", + "Take the oval bread and put it in the black skillet", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Grab the rounded oval bread and set it in the black skillet", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Grab the rounded oval bread and place it in the black skillet", + "Take the oval bread and put it in the iron skillet for frying foods", + "Grab the rounded oval bread and drop it into the black skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the iron skillet for frying foods.", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Pick up the oval bread and drop it into the black skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Move the oval bread to the round cast-iron skillet using the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode6.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..caf27925644f273da7b8b95cf2f7f3a6b5ca7003 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the medium bread with rounded sides and place it inside the medium black pan with handle", + "Use the left arm to move the light brown porous bread and set it into the black pan with curved edges.", + "Grab the bread with soft texture and drop it into the round pan with hole in handle", + "Use the left arm to pick the soft square bread and place it into the round cooking pan.", + "Grab the golden baked bread and stick it in the black pan with curved edges.", + "Take the medium bread with rounded sides and place it inside the smooth round pan made of iron", + "Use the left arm to pick the medium-sized bread piece up for the round pan with hole in handle", + "Place the sponge-textured golden bread from the table into the black skillet with smooth base", + "Pick up the bread with rounded edges with the left arm and drop it in the black skillet with smooth base", + "Pick the medium-sized bread piece and set it into the skillet with extended grip handle.", + "Grab the golden brown bread and place it inside the solid dark-colored round pan.", + "Take the square-shaped bread piece and set it into the skillet with extended grip handle", + "Grab the medium-sized bread piece using the left arm and place it in the heavy black cooking skillet", + "Transfer the bread with rounded edges into the heavy black cooking skillet from the table", + "Lift the golden brown bread and drop it into the medium black pan with handle.", + "Lift the square-shaped bread piece using the left arm and move it to the black skillet with smooth base", + "Move the bread with rounded edges from table into the medium black pan with handle", + "Take the bread with rounded edges off the table into the solid dark-colored round pan", + "Take the light brown porous bread and put it in the versatile skillet for stovetop cooking.", + "Use the left arm to set the medium bread with rounded sides into the black pan with curved edges.", + "Pick up the square-shaped bread piece and place it in the skillet with extended grip handle.", + "Take the golden baked bread with the left arm and drop into the black skillet with smooth base", + "Take the sponge-textured golden bread and put it in the round pan with hole in handle.", + "Pick the bread with soft texture with the left arm and set it in the versatile skillet for stovetop cooking", + "Grab the golden baked bread from the table and set it in the medium black pan with handle.", + "Take the bread with rounded edges and drop it into the black pan with curved edges.", + "Place the fluffy baked bread into the versatile skillet for stovetop cooking with the left arm.", + "Take the rounded square loaf and place it inside the round pan with hole in handle", + "Pick up the sponge-textured golden bread and put it in the medium black pan with handle", + "Use the left arm to grab the light brown porous bread for the black skillet with smooth base", + "Use the left arm to grab the medium-sized bread piece for the heavy black cooking skillet", + "Use the left arm to lift the light brown porous bread and place it into the black pan with curved edges.", + "Move the medium-sized bread piece into the versatile skillet for stovetop cooking from the table", + "Use the left arm to take the square-shaped bread piece and move it into the solid dark-colored round pan.", + "Use the left arm to pick the bread with soft texture and put it in the flat-bottomed skillet with long handle", + "Pick the square-shaped bread piece up using the left arm and drop it in the solid dark-colored round pan.", + "Use the left arm to pick the medium-sized bread piece for the round pan with hole in handle", + "Move the square-shaped bread piece to the heavy black cooking skillet using the left arm", + "Put the soft square bread into the round cooking pan.", + "Put the golden baked bread into the solid dark-colored round pan after grabbing it", + "Grab the square-shaped bread piece with the left arm and place in the medium black pan with handle", + "Place the medium bread with rounded sides into the round pan with hole in handle using the left arm", + "Use the left arm to place the soft square bread into the solid dark-colored round pan", + "Use the left arm to stick the medium-sized bread piece into the round cooking pan.", + "Lift the square-shaped bread piece and drop it into the flat-bottomed skillet with long handle", + "Use the left arm to move the medium bread with rounded sides into the dark pan with sturdy grip", + "Pick the bread with rounded edges off the table and place it in the medium black pan with handle.", + "Pick the fluffy baked bread and transfer it to the round cooking pan", + "Use the left arm to grab the bread with rounded edges and set it in the smooth round pan made of iron.", + "Set the fluffy baked bread into the round cooking pan after grabbing", + "Grab the soft square bread and place it inside the round pan with hole in handle", + "Use the left arm to move the light brown porous bread and set it into the heavy black cooking skillet.", + "Grab the golden baked bread and drop it into the solid dark-colored round pan", + "Use the left arm to pick the medium-sized bread piece and place it into the versatile skillet for stovetop cooking.", + "Grab the square-shaped bread piece and stick it in the skillet with extended grip handle.", + "Take the bread with rounded edges and place it inside the round pan with hole in handle", + "Use the left arm to pick the bread with soft texture up for the round cooking pan", + "Place the golden baked bread from the table into the skillet with extended grip handle", + "Pick up the medium bread with rounded sides with the left arm and drop it in the black pan with curved edges", + "Pick the bread with rounded edges and set it into the medium black pan with handle.", + "Grab the rounded square loaf and place it inside the round pan with hole in handle.", + "Take the soft square bread and set it into the dark pan with sturdy grip", + "Grab the medium-sized bread piece using the left arm and place it in the smooth round pan made of iron", + "Transfer the bread with rounded edges into the black skillet with smooth base from the table", + "Lift the light brown porous bread and drop it into the skillet with extended grip handle.", + "Lift the fluffy baked bread using the left arm and move it to the black skillet with smooth base", + "Move the light brown porous bread from table into the versatile skillet for stovetop cooking", + "Take the sponge-textured golden bread off the table into the versatile skillet for stovetop cooking", + "Take the bread with rounded edges and put it in the medium black pan with handle.", + "Use the left arm to set the sponge-textured golden bread into the round cooking pan.", + "Pick up the bread with soft texture and place it in the heavy black cooking skillet.", + "Take the golden baked bread with the left arm and drop into the heavy black cooking skillet", + "Take the square-shaped bread piece and put it in the dark pan with sturdy grip.", + "Pick the sponge-textured golden bread with the left arm and set it in the medium black pan with handle", + "Grab the golden baked bread from the table and set it in the round pan with hole in handle.", + "Take the fluffy baked bread and drop it into the smooth round pan made of iron.", + "Place the fluffy baked bread into the solid dark-colored round pan with the left arm.", + "Take the golden brown bread and place it inside the versatile skillet for stovetop cooking", + "Pick up the golden brown bread and put it in the black skillet with smooth base", + "Use the left arm to grab the square-shaped bread piece for the black skillet with smooth base", + "Use the left arm to grab the golden baked bread for the black pan with curved edges", + "Use the left arm to lift the bread with soft texture and place it into the medium black pan with handle.", + "Move the medium bread with rounded sides into the skillet with extended grip handle from the table", + "Use the left arm to take the medium bread with rounded sides and move it into the heavy black cooking skillet.", + "Use the left arm to pick the fluffy baked bread and put it in the medium black pan with handle", + "Pick the rounded square loaf up using the left arm and drop it in the skillet with extended grip handle.", + "Use the left arm to pick the bread with rounded edges for the solid dark-colored round pan", + "Move the golden baked bread to the dark pan with sturdy grip using the left arm", + "Put the fluffy baked bread into the round pan with hole in handle.", + "Put the fluffy baked bread into the medium black pan with handle after grabbing it", + "Grab the medium-sized bread piece with the left arm and place in the black skillet with smooth base", + "Place the sponge-textured golden bread into the black pan with curved edges using the left arm", + "Use the left arm to place the medium-sized bread piece into the medium black pan with handle", + "Use the left arm to stick the bread with soft texture into the round cooking pan.", + "Lift the sponge-textured golden bread and drop it into the heavy black cooking skillet", + "Use the left arm to move the bread with rounded edges into the dark pan with sturdy grip", + "Pick the square-shaped bread piece off the table and place it in the skillet with extended grip handle.", + "Pick the soft square bread and transfer it to the flat-bottomed skillet with long handle", + "Use the left arm to grab the golden brown bread and set it in the heavy black cooking skillet.", + "Set the fluffy baked bread into the black skillet with smooth base after grabbing" + ], + "unseen": [ + "Pick the soft bread with golden edges up and place it in the black skillet", + "Grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Grab the square bread with light spots and place it in the black skillet", + "Move the soft bread with golden edges to the black skillet using the left arm.", + "Grab the soft bread with golden edges and drop it into the round cast-iron skillet.", + "Take the spongy golden brown bread and put it in the black skillet", + "Grab the square bread with light spots and place it into the iron skillet for frying foods.", + "Pick up the soft bread with golden edges and drop it into the black skillet", + "Use the left arm to move the spongy golden brown bread to the black skillet.", + "Use the left arm to grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Pick the square bread with light spots up and place it in the black skillet", + "Grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it in the round cast-iron skillet", + "Move the spongy golden brown bread to the round cast-iron skillet using the left arm.", + "Grab the soft bread with golden edges and drop it into the black skillet.", + "Take the spongy golden brown bread and put it in the black skillet", + "Grab the square bread with light spots and place it into the iron skillet for frying foods.", + "Pick up the soft bread with golden edges and drop it into the round cast-iron skillet", + "Use the left arm to move the square bread with light spots to the black skillet.", + "Use the left arm to grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Pick the soft bread with golden edges up and place it in the round cast-iron skillet", + "Grab the square bread with light spots and set it in the iron skillet for frying foods", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Move the square bread with light spots to the black skillet using the left arm.", + "Grab the soft bread with golden edges and drop it into the iron skillet for frying foods.", + "Take the square bread with light spots and put it in the iron skillet for frying foods", + "Grab the soft bread with golden edges and place it into the round cast-iron skillet.", + "Pick up the square bread with light spots and drop it into the round cast-iron skillet", + "Use the left arm to move the soft bread with golden edges to the black skillet.", + "Use the left arm to grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Pick the square bread with light spots up and place it in the black skillet", + "Grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it in the iron skillet for frying foods", + "Move the soft bread with golden edges to the iron skillet for frying foods using the left arm.", + "Grab the spongy golden brown bread and drop it into the iron skillet for frying foods.", + "Take the soft bread with golden edges and put it in the black skillet", + "Grab the soft bread with golden edges and place it into the iron skillet for frying foods.", + "Pick up the spongy golden brown bread and drop it into the iron skillet for frying foods", + "Use the left arm to move the soft bread with golden edges to the iron skillet for frying foods.", + "Use the left arm to grab the spongy golden brown bread and set it in the black skillet", + "Pick the spongy golden brown bread up and place it in the round cast-iron skillet", + "Grab the square bread with light spots and set it in the round cast-iron skillet", + "Grab the square bread with light spots and place it in the black skillet", + "Move the soft bread with golden edges to the iron skillet for frying foods using the left arm.", + "Grab the square bread with light spots and drop it into the iron skillet for frying foods.", + "Take the square bread with light spots and put it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it into the black skillet.", + "Pick up the square bread with light spots and drop it into the round cast-iron skillet", + "Use the left arm to move the square bread with light spots to the black skillet.", + "Use the left arm to grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Pick the soft bread with golden edges up and place it in the iron skillet for frying foods", + "Grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Move the soft bread with golden edges to the round cast-iron skillet using the left arm.", + "Grab the square bread with light spots and drop it into the black skillet.", + "Take the soft bread with golden edges and put it in the black skillet", + "Grab the soft bread with golden edges and place it into the black skillet.", + "Pick up the soft bread with golden edges and drop it into the iron skillet for frying foods", + "Use the left arm to move the soft bread with golden edges to the black skillet.", + "Use the left arm to grab the spongy golden brown bread and set it in the black skillet", + "Pick the spongy golden brown bread up and place it in the round cast-iron skillet", + "Grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it in the round cast-iron skillet", + "Move the soft bread with golden edges to the iron skillet for frying foods using the left arm.", + "Grab the square bread with light spots and drop it into the black skillet.", + "Take the spongy golden brown bread and put it in the round cast-iron skillet", + "Grab the square bread with light spots and place it into the round cast-iron skillet.", + "Pick up the soft bread with golden edges and drop it into the black skillet", + "Use the left arm to move the soft bread with golden edges to the iron skillet for frying foods.", + "Use the left arm to grab the soft bread with golden edges and set it in the black skillet", + "Pick the spongy golden brown bread up and place it in the iron skillet for frying foods", + "Grab the square bread with light spots and set it in the iron skillet for frying foods", + "Grab the square bread with light spots and place it in the black skillet", + "Move the soft bread with golden edges to the black skillet using the left arm.", + "Grab the square bread with light spots and drop it into the black skillet.", + "Take the spongy golden brown bread and put it in the iron skillet for frying foods", + "Grab the soft bread with golden edges and place it into the black skillet.", + "Pick up the square bread with light spots and drop it into the round cast-iron skillet", + "Use the left arm to move the square bread with light spots to the black skillet.", + "Use the left arm to grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Pick the soft bread with golden edges up and place it in the round cast-iron skillet", + "Grab the soft bread with golden edges and set it in the black skillet", + "Grab the spongy golden brown bread and place it in the black skillet", + "Move the square bread with light spots to the iron skillet for frying foods using the left arm.", + "Grab the square bread with light spots and drop it into the round cast-iron skillet.", + "Take the square bread with light spots and put it in the iron skillet for frying foods", + "Grab the spongy golden brown bread and place it into the round cast-iron skillet.", + "Pick up the square bread with light spots and drop it into the round cast-iron skillet", + "Use the left arm to move the square bread with light spots to the round cast-iron skillet.", + "Use the left arm to grab the square bread with light spots and set it in the round cast-iron skillet", + "Pick the square bread with light spots up and place it in the round cast-iron skillet", + "Grab the square bread with light spots and set it in the round cast-iron skillet", + "Grab the square bread with light spots and place it in the black skillet", + "Move the square bread with light spots to the black skillet using the left arm.", + "Grab the spongy golden brown bread and drop it into the iron skillet for frying foods.", + "Take the soft bread with golden edges and put it in the iron skillet for frying foods", + "Grab the soft bread with golden edges and place it into the iron skillet for frying foods.", + "Pick up the spongy golden brown bread and drop it into the iron skillet for frying foods", + "Use the left arm to move the soft bread with golden edges to the iron skillet for frying foods.", + "Use the left arm to grab the soft bread with golden edges and set it in the round cast-iron skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode7.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..d608da59ac0635fa9370f9ff167567b6cb6e1b15 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the golden bread and drop it into the gray skillet for stovetop cooking", + "Move the slice-shaped bread into the smooth non-stick skillet from the table", + "Take the bread with firm crust edges and place it inside the dark gray skillet", + "Grab the rectangular bread soft inside and place it inside the black-surfaced skillet with gray sides.", + "Put the soft golden baked bread into the metal skillet with comfortable grip.", + "Use the left arm to pick the slice-shaped bread and put it in the black-surfaced skillet with gray sides", + "Put the golden crusted bread slice into the black-surfaced skillet with gray sides after grabbing it", + "Use the left arm to grab the bread with firm crust edges for the black-surfaced skillet with gray sides", + "Pick the golden bread off the table and place it in the flat-bottom skillet.", + "Place the bread with firm crust edges from the table into the black-surfaced skillet with gray sides", + "Take the soft golden baked bread and set it into the metal skillet", + "Grab the brown bread loaf and place it inside the skillet with black cooking surface", + "Use the left arm to pick the golden bread for the black-surfaced skillet with gray sides", + "Transfer the slice-shaped bread into the skillet with black cooking surface from the table", + "Lift the slice-shaped bread and drop it into the smooth non-stick skillet.", + "Take the rectangular bread soft inside and put it in the flat-bottom skillet.", + "Pick up the soft golden baked bread and place it in the black-surfaced skillet with gray sides.", + "Take the rectangular bread soft inside and place it inside the flat-bottom skillet", + "Pick the brown bread loaf and set it into the skillet for frying food.", + "Pick up the golden crusted bread slice and put it in the metal skillet", + "Pick the brown bread loaf and transfer it to the medium-sized frying skillet", + "Use the left arm to lift the bread with rounded corners and place it into the metal skillet with comfortable grip.", + "Grab the square loaf of bread from the table and set it in the metal skillet with comfortable grip.", + "Pick the soft golden baked bread with the left arm and set it in the gray skillet for stovetop cooking", + "Grab the rectangular bread soft inside with the left arm and place in the black-surfaced skillet with gray sides", + "Set the bread with golden surface color into the black-surfaced skillet with gray sides after grabbing", + "Use the left arm to pick the soft golden baked bread and place it into the gray skillet for stovetop cooking.", + "Place the slice-shaped bread into the metal skillet with comfortable grip using the left arm", + "Take the golden bread with the left arm and drop into the round skillet with handle", + "Use the left arm to move the golden crusted bread slice and set it into the round skillet with handle.", + "Take the golden brown loaf-shaped bread and put it in the gray skillet for stovetop cooking.", + "Use the left arm to grab the bread with golden surface color for the medium-sized frying skillet", + "Use the left arm to move the rectangular bread soft inside into the dark gray skillet", + "Use the left arm to place the golden brown loaf-shaped bread into the dark gray skillet", + "Use the left arm to pick the slice-shaped bread up for the medium-sized frying skillet", + "Move the golden bread from table into the gray skillet for stovetop cooking", + "Use the left arm to set the bread loaf with square shape into the metal skillet.", + "Lift the bread with rounded corners using the left arm and move it to the metal skillet", + "Pick up the bread with golden surface color with the left arm and drop it in the black-surfaced skillet with gray sides", + "Use the left arm to grab the bread with golden surface color and set it in the round skillet with open handle end.", + "Use the left arm to take the square loaf of bread and move it into the metal skillet.", + "Take the golden brown loaf-shaped bread off the table into the round skillet with handle", + "Grab the bread loaf with square shape and stick it in the dark gray skillet.", + "Pick the brown bread loaf up using the left arm and drop it in the medium-sized frying skillet.", + "Lift the rectangular bread soft inside and drop it into the smooth non-stick skillet", + "Grab the golden brown loaf-shaped bread using the left arm and place it in the medium-sized frying skillet", + "Place the golden crusted bread slice into the round skillet with open handle end with the left arm.", + "Take the brown bread loaf and drop it into the gray skillet for stovetop cooking.", + "Use the left arm to stick the bread loaf with square shape into the round skillet with handle.", + "Move the bread with golden surface color to the gray skillet for stovetop cooking using the left arm", + "Grab the bread with firm crust edges and drop it into the black-surfaced skillet with gray sides", + "Move the soft golden baked bread into the metal skillet with comfortable grip from the table", + "Take the brown bread loaf and place it inside the metal skillet with comfortable grip", + "Grab the square loaf of bread and place it inside the metal skillet.", + "Put the square loaf of bread into the metal skillet.", + "Use the left arm to pick the bread loaf with square shape and put it in the gray skillet for stovetop cooking", + "Put the brown bread loaf into the skillet with black cooking surface after grabbing it", + "Use the left arm to grab the slice-shaped bread for the flat-bottom skillet", + "Pick the rectangular bread soft inside off the table and place it in the dark gray skillet.", + "Place the brown bread loaf from the table into the gray skillet for stovetop cooking", + "Take the square loaf of bread and set it into the round skillet with open handle end", + "Grab the bread with rounded corners and place it inside the medium-sized frying skillet", + "Use the left arm to pick the golden brown loaf-shaped bread for the metal skillet", + "Transfer the golden bread into the round skillet with open handle end from the table", + "Lift the soft golden baked bread and drop it into the round skillet with handle.", + "Take the bread loaf with square shape and put it in the dark gray skillet.", + "Pick up the rectangular bread soft inside and place it in the dark gray skillet.", + "Take the bread loaf with square shape and place it inside the gray skillet for stovetop cooking", + "Pick the golden brown loaf-shaped bread and set it into the gray skillet for stovetop cooking.", + "Pick up the brown bread loaf and put it in the dark gray skillet", + "Pick the golden brown loaf-shaped bread and transfer it to the dark gray skillet", + "Use the left arm to lift the bread with firm crust edges and place it into the medium-sized frying skillet.", + "Grab the bread with golden surface color from the table and set it in the metal skillet with comfortable grip.", + "Pick the square loaf of bread with the left arm and set it in the skillet for frying food", + "Grab the golden bread with the left arm and place in the metal skillet with comfortable grip", + "Set the bread with rounded corners into the black-surfaced skillet with gray sides after grabbing", + "Use the left arm to pick the soft golden baked bread and place it into the black-surfaced skillet with gray sides.", + "Place the soft golden baked bread into the skillet with black cooking surface using the left arm", + "Take the golden crusted bread slice with the left arm and drop into the flat-bottom skillet", + "Use the left arm to move the square loaf of bread and set it into the dark gray skillet.", + "Take the golden brown loaf-shaped bread and put it in the gray skillet for stovetop cooking.", + "Use the left arm to grab the slice-shaped bread for the metal skillet with comfortable grip", + "Use the left arm to move the bread with firm crust edges into the dark gray skillet", + "Use the left arm to place the golden bread into the skillet with black cooking surface", + "Use the left arm to pick the square loaf of bread up for the smooth non-stick skillet", + "Move the bread loaf with square shape from table into the skillet with black cooking surface", + "Use the left arm to set the golden bread into the skillet for frying food.", + "Lift the bread with firm crust edges using the left arm and move it to the skillet for frying food", + "Pick up the bread with firm crust edges with the left arm and drop it in the skillet for frying food", + "Use the left arm to grab the slice-shaped bread and set it in the black-surfaced skillet with gray sides.", + "Use the left arm to take the golden brown loaf-shaped bread and move it into the metal skillet with comfortable grip.", + "Take the bread with golden surface color off the table into the skillet for frying food", + "Grab the golden bread and stick it in the metal skillet.", + "Pick the bread with rounded corners up using the left arm and drop it in the skillet with black cooking surface.", + "Lift the soft golden baked bread and drop it into the gray skillet for stovetop cooking", + "Grab the golden bread using the left arm and place it in the dark gray skillet", + "Place the bread loaf with square shape into the gray skillet for stovetop cooking with the left arm.", + "Take the square loaf of bread and drop it into the smooth non-stick skillet.", + "Use the left arm to stick the bread loaf with square shape into the black-surfaced skillet with gray sides.", + "Move the golden crusted bread slice to the round skillet with handle using the left arm" + ], + "unseen": [ + "Grab the small loaf-shaped bread and drop it into the dark skillet with shiny finish.", + "Move the small loaf-shaped bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the soft rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Use the left arm to move the soft rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Pick the bread loaf medium-sized up and place it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it in the versatile skillet for frying and sauteing", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Move the small loaf-shaped bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the soft rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Use the left arm to move the soft rectangular bread loaf to the dark skillet with shiny finish.", + "Pick the small loaf-shaped bread up and place it in the dark skillet with shiny finish", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and place it in the versatile skillet for frying and sauteing", + "Take the soft rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle.", + "Move the bread loaf medium-sized to the versatile skillet for frying and sauteing using the left arm.", + "Grab the small loaf-shaped bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the bread loaf medium-sized to the versatile skillet for frying and sauteing.", + "Pick the bread loaf medium-sized up and place it in the dark skillet with shiny finish", + "Pick up the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and place it in the dark skillet with shiny finish", + "Take the soft rectangular bread loaf and put it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing.", + "Move the small loaf-shaped bread to the dark skillet with shiny finish using the left arm.", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the soft rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Pick the soft rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and place it in the dark skillet with shiny finish", + "Take the bread loaf medium-sized and put it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle.", + "Move the small loaf-shaped bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the bread loaf medium-sized and place it into the dark skillet with shiny finish.", + "Use the left arm to move the bread loaf medium-sized to the dark skillet with shiny finish.", + "Pick the small loaf-shaped bread up and place it in the dark skillet with shiny finish", + "Pick up the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it in the dark skillet with shiny finish", + "Take the bread loaf medium-sized and put it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing.", + "Move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the small loaf-shaped bread and place it into the dark skillet with shiny finish.", + "Use the left arm to move the small loaf-shaped bread to the pan-shaped skillet with hole in handle.", + "Pick the soft rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and place it in the dark skillet with shiny finish", + "Take the bread loaf medium-sized and put it in the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing.", + "Move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the bread loaf medium-sized and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing.", + "Pick the small loaf-shaped bread up and place it in the pan-shaped skillet with hole in handle", + "Pick up the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and place it in the pan-shaped skillet with hole in handle", + "Take the small loaf-shaped bread and put it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Move the bread loaf medium-sized to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the small loaf-shaped bread and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing.", + "Pick the bread loaf medium-sized up and place it in the versatile skillet for frying and sauteing", + "Pick up the small loaf-shaped bread and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and place it in the dark skillet with shiny finish", + "Take the soft rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Move the small loaf-shaped bread to the dark skillet with shiny finish using the left arm.", + "Grab the bread loaf medium-sized and place it into the dark skillet with shiny finish.", + "Use the left arm to move the small loaf-shaped bread to the dark skillet with shiny finish.", + "Pick the bread loaf medium-sized up and place it in the pan-shaped skillet with hole in handle", + "Pick up the soft rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Take the soft rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Move the bread loaf medium-sized to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the soft rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the small loaf-shaped bread to the dark skillet with shiny finish.", + "Pick the soft rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Pick up the small loaf-shaped bread and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and place it in the versatile skillet for frying and sauteing", + "Take the soft rectangular bread loaf and put it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode8.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..980b80587557f3cd2a4a1e52df816d059b156a6e --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the bread with soft texture off the table and place it in the smooth non-stick skillet.", + "Use the left arm to pick the sponge-textured golden bread up for the skillet with black cooking surface", + "Set the golden baked bread into the skillet with black cooking surface after grabbing", + "Use the left arm to lift the medium bread with rounded sides and place it into the medium-sized frying skillet.", + "Use the left arm to pick the bread with soft texture for the metal skillet", + "Take the sponge-textured golden bread and set it into the flat-bottom skillet", + "Grab the sponge-textured golden bread and stick it in the black-surfaced skillet with gray sides.", + "Place the bread with soft texture from the table into the gray skillet for stovetop cooking", + "Place the sponge-textured golden bread into the smooth non-stick skillet with the left arm.", + "Take the fluffy baked bread and put it in the dark gray skillet.", + "Put the medium-sized bread piece into the skillet for frying food.", + "Use the left arm to pick the bread with rounded edges and place it into the medium-sized frying skillet.", + "Take the fluffy baked bread off the table into the black-surfaced skillet with gray sides", + "Take the golden baked bread and place it inside the metal skillet with comfortable grip", + "Pick up the bread with rounded edges with the left arm and drop it in the metal skillet", + "Grab the rounded square loaf and drop it into the flat-bottom skillet", + "Take the fluffy baked bread and place it inside the skillet with black cooking surface", + "Use the left arm to set the sponge-textured golden bread into the skillet with black cooking surface.", + "Use the left arm to grab the golden brown bread and set it in the round skillet with open handle end.", + "Pick the medium bread with rounded sides and transfer it to the skillet with black cooking surface", + "Use the left arm to stick the medium bread with rounded sides into the medium-sized frying skillet.", + "Use the left arm to take the fluffy baked bread and move it into the metal skillet with comfortable grip.", + "Pick up the bread with soft texture and put it in the round skillet with open handle end", + "Lift the soft square bread using the left arm and move it to the round skillet with open handle end", + "Use the left arm to grab the bread with rounded edges for the gray skillet for stovetop cooking", + "Use the left arm to move the square-shaped bread piece into the skillet with black cooking surface", + "Grab the golden baked bread and place it inside the skillet for frying food.", + "Transfer the golden baked bread into the dark gray skillet from the table", + "Take the sponge-textured golden bread and put it in the round skillet with open handle end.", + "Move the bread with soft texture into the skillet with black cooking surface from the table", + "Move the bread with rounded edges to the round skillet with open handle end using the left arm", + "Grab the sponge-textured golden bread with the left arm and place in the round skillet with open handle end", + "Pick up the square-shaped bread piece and place it in the dark gray skillet.", + "Use the left arm to pick the golden baked bread and put it in the gray skillet for stovetop cooking", + "Take the soft square bread with the left arm and drop into the dark gray skillet", + "Lift the golden brown bread and drop it into the black-surfaced skillet with gray sides", + "Move the medium-sized bread piece from table into the round skillet with handle", + "Take the medium-sized bread piece and drop it into the smooth non-stick skillet.", + "Grab the medium-sized bread piece using the left arm and place it in the round skillet with open handle end", + "Grab the light brown porous bread and place it inside the black-surfaced skillet with gray sides", + "Use the left arm to move the golden brown bread and set it into the skillet with black cooking surface.", + "Pick the square-shaped bread piece and set it into the metal skillet with comfortable grip.", + "Use the left arm to place the fluffy baked bread into the medium-sized frying skillet", + "Use the left arm to grab the rounded square loaf for the medium-sized frying skillet", + "Pick the bread with rounded edges with the left arm and set it in the black-surfaced skillet with gray sides", + "Lift the bread with soft texture and drop it into the medium-sized frying skillet.", + "Put the bread with rounded edges into the metal skillet with comfortable grip after grabbing it", + "Grab the sponge-textured golden bread from the table and set it in the smooth non-stick skillet.", + "Place the bread with soft texture into the skillet for frying food using the left arm", + "Pick the sponge-textured golden bread up using the left arm and drop it in the metal skillet.", + "Pick the square-shaped bread piece off the table and place it in the skillet with black cooking surface.", + "Use the left arm to pick the medium bread with rounded sides up for the black-surfaced skillet with gray sides", + "Set the bread with soft texture into the round skillet with open handle end after grabbing", + "Use the left arm to lift the bread with soft texture and place it into the skillet with black cooking surface.", + "Use the left arm to pick the bread with soft texture for the medium-sized frying skillet", + "Take the bread with soft texture and set it into the round skillet with open handle end", + "Grab the fluffy baked bread and stick it in the medium-sized frying skillet.", + "Place the golden baked bread from the table into the black-surfaced skillet with gray sides", + "Place the light brown porous bread into the smooth non-stick skillet with the left arm.", + "Take the bread with rounded edges and put it in the round skillet with handle.", + "Put the rounded square loaf into the round skillet with open handle end.", + "Use the left arm to pick the golden baked bread and place it into the flat-bottom skillet.", + "Take the medium-sized bread piece off the table into the gray skillet for stovetop cooking", + "Take the sponge-textured golden bread and place it inside the round skillet with handle", + "Pick up the bread with rounded edges with the left arm and drop it in the metal skillet", + "Grab the sponge-textured golden bread and drop it into the medium-sized frying skillet", + "Take the soft square bread and place it inside the flat-bottom skillet", + "Use the left arm to set the square-shaped bread piece into the skillet with black cooking surface.", + "Use the left arm to grab the medium-sized bread piece and set it in the metal skillet with comfortable grip.", + "Pick the golden brown bread and transfer it to the dark gray skillet", + "Use the left arm to stick the bread with rounded edges into the skillet with black cooking surface.", + "Use the left arm to take the golden brown bread and move it into the metal skillet with comfortable grip.", + "Pick up the square-shaped bread piece and put it in the round skillet with handle", + "Lift the golden baked bread using the left arm and move it to the black-surfaced skillet with gray sides", + "Use the left arm to grab the bread with soft texture for the medium-sized frying skillet", + "Use the left arm to move the fluffy baked bread into the flat-bottom skillet", + "Grab the sponge-textured golden bread and place it inside the round skillet with open handle end.", + "Transfer the square-shaped bread piece into the black-surfaced skillet with gray sides from the table", + "Take the sponge-textured golden bread and put it in the gray skillet for stovetop cooking.", + "Move the square-shaped bread piece into the skillet for frying food from the table", + "Move the light brown porous bread to the smooth non-stick skillet using the left arm", + "Grab the golden baked bread with the left arm and place in the skillet for frying food", + "Pick up the medium-sized bread piece and place it in the gray skillet for stovetop cooking.", + "Use the left arm to pick the bread with soft texture and put it in the medium-sized frying skillet", + "Take the sponge-textured golden bread with the left arm and drop into the flat-bottom skillet", + "Lift the bread with rounded edges and drop it into the skillet for frying food", + "Move the bread with rounded edges from table into the round skillet with handle", + "Take the bread with soft texture and drop it into the round skillet with open handle end.", + "Grab the soft square bread using the left arm and place it in the metal skillet with comfortable grip", + "Grab the golden brown bread and place it inside the medium-sized frying skillet", + "Use the left arm to move the fluffy baked bread and set it into the round skillet with handle.", + "Pick the golden baked bread and set it into the metal skillet with comfortable grip.", + "Use the left arm to place the light brown porous bread into the flat-bottom skillet", + "Use the left arm to grab the bread with soft texture for the skillet for frying food", + "Pick the golden brown bread with the left arm and set it in the flat-bottom skillet", + "Lift the fluffy baked bread and drop it into the metal skillet with comfortable grip.", + "Put the medium-sized bread piece into the black-surfaced skillet with gray sides after grabbing it", + "Grab the bread with soft texture from the table and set it in the skillet with black cooking surface.", + "Place the medium bread with rounded sides into the gray skillet for stovetop cooking using the left arm", + "Pick the fluffy baked bread up using the left arm and drop it in the metal skillet with comfortable grip." + ], + "unseen": [ + "Grab the square bread with light spots and place it in the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the dark skillet with shiny finish using the left arm.", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Pick the soft bread with golden edges up and place it in the versatile skillet for frying and sauteing", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Use the left arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the left arm.", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Pick the soft bread with golden edges up and place it in the versatile skillet for frying and sauteing", + "Pick up the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and place it into the dark skillet with shiny finish.", + "Use the left arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the left arm.", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Pick the square bread with light spots up and place it in the dark skillet with shiny finish", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Use the left arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the left arm.", + "Take the soft bread with golden edges and put it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Use the left arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Grab the spongy golden brown bread and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the left arm.", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the versatile skillet for frying and sauteing using the left arm.", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the left arm.", + "Take the spongy golden brown bread and put it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Pick up the square bread with light spots and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Move the soft bread with golden edges to the dark skillet with shiny finish using the left arm.", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Use the left arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the left arm.", + "Take the spongy golden brown bread and put it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and drop it into the versatile skillet for frying and sauteing.", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Use the left arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Use the left arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it in the pan-shaped skillet with hole in handle", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the left arm.", + "Take the spongy golden brown bread and put it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Pick up the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode9.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..26a151822da614fd4515b0321468881aa63de91b --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the golden bread to the dark pan with sturdy grip using the right arm", + "Set the doughy and soft bread into the black pan with curved edges after grabbing", + "Use the right arm to set the golden bread into the skillet with extended grip handle.", + "Use the right arm to grab the bread loaf with bumpy surface for the smooth round pan made of iron", + "Move the doughy and soft bread from table into the dark pan with sturdy grip", + "Grab the bread loaf with bumpy surface and stick it in the black skillet with smooth base.", + "Place the cuboid bread into the flat-bottomed skillet with long handle using the right arm", + "Pick up the bread with rough texture and put it in the heavy black cooking skillet", + "Pick up the soft bread with the right arm and drop it in the black pan with curved edges", + "Place the square-shaped bread from the table into the dark pan with sturdy grip", + "Pick the light golden brown bread with the right arm and set it in the skillet with extended grip handle", + "Grab the cuboid bread from the table and set it in the smooth round pan made of iron.", + "Put the square-shaped bread into the black pan with curved edges.", + "Use the right arm to pick the hand-sized bread block up for the black pan with curved edges", + "Lift the light golden brown bread and drop it into the black pan with curved edges.", + "Take the bread loaf with uneven edges and drop it into the dark pan with sturdy grip.", + "Grab the bread block with light patches and drop it into the solid dark-colored round pan", + "Take the golden bread loaf and place it inside the flat-bottomed skillet with long handle", + "Pick the bread block with light patches off the table and place it in the smooth round pan made of iron.", + "Use the right arm to lift the hand-sized bread block and place it into the flat-bottomed skillet with long handle.", + "Use the right arm to grab the bread loaf with bumpy surface for the versatile skillet for stovetop cooking", + "Take the golden bread off the table into the smooth round pan made of iron", + "Use the right arm to pick the doughy and soft bread and place it into the black skillet with smooth base.", + "Pick the bread loaf with bumpy surface and set it into the versatile skillet for stovetop cooking.", + "Pick the golden bread and transfer it to the black skillet with smooth base", + "Grab the bread with rough texture with the right arm and place in the black pan with curved edges", + "Take the cuboid bread with the right arm and drop into the round cooking pan", + "Place the bread loaf with uneven edges into the heavy black cooking skillet with the right arm.", + "Pick up the bread block with light patches and place it in the skillet with extended grip handle.", + "Take the square-shaped bread and place it inside the flat-bottomed skillet with long handle", + "Use the right arm to place the bread with rough texture into the black pan with curved edges", + "Move the bread loaf with bumpy surface into the round cooking pan from the table", + "Use the right arm to grab the bread loaf with bumpy surface and set it in the heavy black cooking skillet.", + "Grab the bread loaf with uneven edges and place it inside the black skillet with smooth base.", + "Lift the hand-sized bread block using the right arm and move it to the round cooking pan", + "Take the cuboid bread and set it into the round pan with hole in handle", + "Use the right arm to move the hand-sized bread block and set it into the flat-bottomed skillet with long handle.", + "Use the right arm to take the bread with rough texture and move it into the round pan with hole in handle.", + "Transfer the bread with rough texture into the solid dark-colored round pan from the table", + "Grab the hand-sized bread block using the right arm and place it in the dark pan with sturdy grip", + "Take the bread with rough texture and put it in the skillet with extended grip handle.", + "Grab the square-shaped bread and place it inside the versatile skillet for stovetop cooking", + "Take the golden bread loaf and put it in the smooth round pan made of iron.", + "Pick the golden bread loaf up using the right arm and drop it in the versatile skillet for stovetop cooking.", + "Lift the light golden brown bread and drop it into the black pan with curved edges", + "Use the right arm to move the golden bread into the medium black pan with handle", + "Put the square-shaped bread into the skillet with extended grip handle after grabbing it", + "Use the right arm to stick the bread block with light patches into the black skillet with smooth base.", + "Use the right arm to pick the doughy and soft bread for the round cooking pan", + "Use the right arm to pick the light golden brown bread and put it in the versatile skillet for stovetop cooking", + "Move the bread block with light patches to the skillet with extended grip handle using the right arm", + "Set the bread loaf with bumpy surface into the smooth round pan made of iron after grabbing", + "Use the right arm to set the bread with rough texture into the skillet with extended grip handle.", + "Use the right arm to grab the hand-sized bread block for the heavy black cooking skillet", + "Move the light golden brown bread from table into the versatile skillet for stovetop cooking", + "Grab the cuboid bread and stick it in the heavy black cooking skillet.", + "Place the golden bread loaf into the medium black pan with handle using the right arm", + "Pick up the hand-sized bread block and put it in the medium black pan with handle", + "Pick up the bread loaf with bumpy surface with the right arm and drop it in the dark pan with sturdy grip", + "Place the soft bread from the table into the heavy black cooking skillet", + "Pick the doughy and soft bread with the right arm and set it in the round cooking pan", + "Grab the hand-sized bread block from the table and set it in the black skillet with smooth base.", + "Put the bread loaf with bumpy surface into the skillet with extended grip handle.", + "Use the right arm to pick the hand-sized bread block up for the heavy black cooking skillet", + "Lift the hand-sized bread block and drop it into the round cooking pan.", + "Take the hand-sized bread block and drop it into the medium black pan with handle.", + "Grab the bread block with light patches and drop it into the versatile skillet for stovetop cooking", + "Take the doughy and soft bread and place it inside the round pan with hole in handle", + "Pick the golden bread off the table and place it in the smooth round pan made of iron.", + "Use the right arm to lift the cuboid bread and place it into the versatile skillet for stovetop cooking.", + "Use the right arm to grab the soft bread for the black skillet with smooth base", + "Take the cuboid bread off the table into the heavy black cooking skillet", + "Use the right arm to pick the golden bread loaf and place it into the round pan with hole in handle.", + "Pick the bread loaf with bumpy surface and set it into the round cooking pan.", + "Pick the bread loaf with uneven edges and transfer it to the round pan with hole in handle", + "Grab the golden bread loaf with the right arm and place in the solid dark-colored round pan", + "Take the light golden brown bread with the right arm and drop into the dark pan with sturdy grip", + "Place the bread block with light patches into the black pan with curved edges with the right arm.", + "Pick up the golden bread loaf and place it in the dark pan with sturdy grip.", + "Take the bread with rough texture and place it inside the round cooking pan", + "Use the right arm to place the soft bread into the black skillet with smooth base", + "Move the bread block with light patches into the skillet with extended grip handle from the table", + "Use the right arm to grab the golden bread and set it in the flat-bottomed skillet with long handle.", + "Grab the doughy and soft bread and place it inside the heavy black cooking skillet.", + "Lift the golden bread using the right arm and move it to the smooth round pan made of iron", + "Take the bread with rough texture and set it into the round cooking pan", + "Use the right arm to move the light golden brown bread and set it into the black skillet with smooth base.", + "Use the right arm to take the bread with rough texture and move it into the heavy black cooking skillet.", + "Transfer the light golden brown bread into the medium black pan with handle from the table", + "Grab the bread block with light patches using the right arm and place it in the heavy black cooking skillet", + "Take the bread loaf with bumpy surface and put it in the flat-bottomed skillet with long handle.", + "Grab the bread with rough texture and place it inside the round cooking pan", + "Take the bread loaf with bumpy surface and put it in the black pan with curved edges.", + "Pick the soft bread up using the right arm and drop it in the black skillet with smooth base.", + "Lift the square-shaped bread and drop it into the versatile skillet for stovetop cooking", + "Use the right arm to move the golden bread loaf into the black pan with curved edges", + "Put the square-shaped bread into the black pan with curved edges after grabbing it", + "Use the right arm to stick the soft bread into the dark pan with sturdy grip.", + "Use the right arm to pick the bread loaf with uneven edges for the heavy black cooking skillet", + "Use the right arm to pick the golden bread loaf and put it in the black pan with curved edges" + ], + "unseen": [ + "Use the right arm to move the rectangular bread loaf to the black skillet.", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Grab the rectangular bread loaf and set it in the black skillet", + "Move the bread with golden crust to the black skillet using the right arm.", + "Take the rectangular bread loaf and put it in the round cast-iron skillet", + "Use the right arm to grab the bread with golden crust and set it in the black skillet", + "Grab the bread with golden crust and place it in the black skillet", + "Pick the bread with golden crust up and place it in the round cast-iron skillet", + "Pick up the bread with golden crust and drop it into the black skillet", + "Use the right arm to move the bread with golden crust to the iron skillet for frying foods.", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Move the bread with golden crust to the round cast-iron skillet using the right arm.", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Use the right arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Pick the bread with golden crust up and place it in the round cast-iron skillet", + "Pick up the bread with golden crust and drop it into the black skillet", + "Use the right arm to move the bread with golden crust to the black skillet.", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Move the bread loaf with soft surface to the black skillet using the right arm.", + "Take the bread loaf with soft surface and put it in the round cast-iron skillet", + "Use the right arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Pick the bread with golden crust up and place it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Use the right arm to move the bread loaf with soft surface to the black skillet.", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Move the bread loaf with soft surface to the black skillet using the right arm.", + "Take the rectangular bread loaf and put it in the iron skillet for frying foods", + "Use the right arm to grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it in the iron skillet for frying foods", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Pick up the bread with golden crust and drop it into the iron skillet for frying foods", + "Use the right arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Grab the bread with golden crust and set it in the black skillet", + "Move the bread loaf with soft surface to the round cast-iron skillet using the right arm.", + "Take the bread with golden crust and put it in the black skillet", + "Use the right arm to grab the rectangular bread loaf and set it in the black skillet", + "Grab the rectangular bread loaf and place it in the round cast-iron skillet", + "Pick the bread loaf with soft surface up and place it in the black skillet", + "Pick up the bread with golden crust and drop it into the iron skillet for frying foods", + "Use the right arm to move the bread with golden crust to the black skillet.", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Move the bread loaf with soft surface to the iron skillet for frying foods using the right arm.", + "Take the bread with golden crust and put it in the round cast-iron skillet", + "Use the right arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it in the round cast-iron skillet", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Use the right arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Grab the bread loaf with soft surface and set it in the black skillet", + "Move the rectangular bread loaf to the black skillet using the right arm.", + "Take the rectangular bread loaf and put it in the black skillet", + "Use the right arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the bread with golden crust and place it in the black skillet", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Use the right arm to move the bread with golden crust to the round cast-iron skillet.", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Move the bread loaf with soft surface to the black skillet using the right arm.", + "Take the bread with golden crust and put it in the round cast-iron skillet", + "Use the right arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the black skillet", + "Use the right arm to move the bread with golden crust to the iron skillet for frying foods.", + "Grab the bread with golden crust and place it into the black skillet.", + "Grab the bread with golden crust and drop it into the black skillet.", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Move the bread loaf with soft surface to the iron skillet for frying foods using the right arm.", + "Take the bread with golden crust and put it in the round cast-iron skillet", + "Use the right arm to grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it in the black skillet", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Use the right arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Grab the rectangular bread loaf and drop it into the black skillet.", + "Grab the rectangular bread loaf and set it in the black skillet", + "Move the rectangular bread loaf to the iron skillet for frying foods using the right arm.", + "Take the rectangular bread loaf and put it in the black skillet", + "Use the right arm to grab the rectangular bread loaf and set it in the black skillet", + "Grab the rectangular bread loaf and place it in the black skillet", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Pick up the bread loaf with soft surface and drop it into the round cast-iron skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/scene_info.json b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..bd45eef73ba4737fdb93fc65c8dd739d804262d0 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ARX-X5/meta/scene_info.json @@ -0,0 +1,602 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + 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0000000000000000000000000000000000000000..867aa7f3ff13b34275669143fe6f78a31c5016fa --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/data/episode9.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:102547e36caa8f973d21b5f6dc0fa7d09486ff055331f7147c403fc350c47f0d +size 11483926 diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/config.yml b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..8c118a89a92436c78ebf9d967c211d09a08e3ef8 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/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/place_bread_skillet/aloha-agilex/meta/info.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..0cebeb16bd7227726bd47d5ad159a4199be84d78 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/info.json @@ -0,0 +1,67 @@ +{ + "task": "place_bread_skillet", + "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." + }, + "source_renderer": "render/render_robotwin.py" +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode0.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..db3c641716bf8778c0f5dba44ec0c7b1ec4bcb82 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the soft brown bread from table into the skillet with black cooking surface", + "Pick the bread with warm golden color with the left arm and set it in the metal skillet", + "Place the hand-sized oval loaf into the skillet with black cooking surface using the left arm", + "Lift the bread with golden-brown crust and drop it into the skillet for frying food.", + "Grab the bread with split top from the table and set it in the gray skillet for stovetop cooking.", + "Transfer the light brown bread with ridges into the skillet with black cooking surface from the table", + "Lift the golden bread loaf and drop it into the dark gray skillet", + "Use the left arm to move the light brown bread with ridges into the round skillet with open handle end", + "Use the left arm to pick the brown loaf and put it in the black-surfaced skillet with gray sides", + "Pick the bread with warm golden color and transfer it to the metal skillet with comfortable grip", + "Pick the brown loaf up using the left arm and drop it in the medium-sized frying skillet.", + "Place the small golden brown bread from the table into the gray skillet for stovetop cooking", + "Use the left arm to set the bread with split top into the dark gray skillet.", + "Use the left arm to pick the small golden brown bread up for the round skillet with handle", + "Move the light brown bread with ridges to the dark gray skillet using the left arm", + "Put the light brown bread with ridges into the dark gray skillet after grabbing it", + "Grab the bread with warm golden color and drop it into the dark gray skillet", + "Pick the light brown loaf with smooth sides off the table and place it in the round skillet with open handle end.", + "Put the bread with split top into the skillet with black cooking surface.", + "Set the smooth loaf with rounded edges into the smooth non-stick skillet after grabbing", + "Use the left arm to grab the smooth loaf with rounded edges for the round skillet with open handle end", + "Use the left arm to stick the bread with split top into the flat-bottom skillet.", + "Use the left arm to move the light brown bread with ridges and set it into the gray skillet for stovetop cooking.", + "Use the left arm to grab the golden bread loaf for the flat-bottom skillet", + "Use the left arm to lift the smooth loaf with rounded edges and place it into the metal skillet with comfortable grip.", + "Take the bread with warm golden color and set it into the round skillet with open handle end", + "Pick up the small golden brown bread with the left arm and drop it in the gray skillet for stovetop cooking", + "Grab the hand-sized oval loaf with the left arm and place in the skillet with black cooking surface", + "Pick the soft brown bread and set it into the medium-sized frying skillet.", + "Use the left arm to grab the bread with golden-brown crust and set it in the skillet with black cooking surface.", + "Use the left arm to place the hand-sized oval loaf into the metal skillet", + "Take the bread with golden-brown crust and drop it into the gray skillet for stovetop cooking.", + "Pick up the smooth loaf with rounded edges and put it in the round skillet with open handle end", + "Take the soft brown bread and place it inside the dark gray skillet", + "Move the bread with warm golden color into the flat-bottom skillet from the table", + "Take the bread with golden-brown crust and put it in the metal skillet with comfortable grip.", + "Take the small golden brown bread with the left arm and drop into the round skillet with open handle end", + "Lift the bread with golden-brown crust using the left arm and move it to the round skillet with open handle end", + "Use the left arm to pick the light brown loaf with smooth sides and place it into the skillet with black cooking surface.", + "Take the bread with warm golden color and place it inside the metal skillet with comfortable grip", + "Use the left arm to take the small golden brown bread and move it into the medium-sized frying skillet.", + "Grab the small loaf with curved top and place it inside the skillet with black cooking surface", + "Take the light brown loaf with smooth sides and put it in the dark gray skillet.", + "Place the light brown loaf with smooth sides into the round skillet with open handle end with the left arm.", + "Pick up the light brown bread with ridges and place it in the dark gray skillet.", + "Take the hand-sized oval loaf off the table into the skillet with black cooking surface", + "Grab the bread with golden-brown crust using the left arm and place it in the dark gray skillet", + "Grab the smooth loaf with rounded edges and stick it in the gray skillet for stovetop cooking.", + "Use the left arm to pick the light brown bread with ridges for the gray skillet for stovetop cooking", + "Grab the smooth loaf with rounded edges and place it inside the round skillet with open handle end.", + "Move the smooth loaf with rounded edges from table into the round skillet with open handle end", + "Pick the small golden brown bread with the left arm and set it in the metal skillet", + "Place the hand-sized oval loaf into the smooth non-stick skillet using the left arm", + "Lift the smooth loaf with rounded edges and drop it into the dark gray skillet.", + "Grab the bread with golden-brown crust from the table and set it in the smooth non-stick skillet.", + "Transfer the light brown loaf with smooth sides into the black-surfaced skillet with gray sides from the table", + "Lift the bread with golden-brown crust and drop it into the black-surfaced skillet with gray sides", + "Use the left arm to move the small golden brown bread into the gray skillet for stovetop cooking", + "Use the left arm to pick the hand-sized oval loaf and put it in the smooth non-stick skillet", + "Pick the small loaf with curved top and transfer it to the round skillet with handle", + "Pick the light brown loaf with smooth sides up using the left arm and drop it in the skillet for frying food.", + "Place the hand-sized oval loaf from the table into the metal skillet with comfortable grip", + "Use the left arm to set the bread with golden-brown crust into the skillet for frying food.", + "Use the left arm to pick the hand-sized oval loaf up for the skillet with black cooking surface", + "Move the bread with warm golden color to the dark gray skillet using the left arm", + "Put the light brown loaf with smooth sides into the metal skillet after grabbing it", + "Grab the brown loaf and drop it into the skillet with black cooking surface", + "Pick the golden bread loaf off the table and place it in the skillet with black cooking surface.", + "Put the light brown loaf with smooth sides into the flat-bottom skillet.", + "Set the small golden brown bread into the flat-bottom skillet after grabbing", + "Use the left arm to grab the light brown bread with ridges for the black-surfaced skillet with gray sides", + "Use the left arm to stick the bread with warm golden color into the metal skillet.", + "Use the left arm to move the small loaf with curved top and set it into the round skillet with handle.", + "Use the left arm to grab the hand-sized oval loaf for the medium-sized frying skillet", + "Use the left arm to lift the small loaf with curved top and place it into the flat-bottom skillet.", + "Take the small golden brown bread and set it into the dark gray skillet", + "Pick up the brown loaf with the left arm and drop it in the flat-bottom skillet", + "Grab the bread with split top with the left arm and place in the metal skillet with comfortable grip", + "Pick the golden bread loaf and set it into the round skillet with open handle end.", + "Use the left arm to grab the bread with golden-brown crust and set it in the smooth non-stick skillet.", + "Use the left arm to place the brown loaf into the flat-bottom skillet", + "Take the small loaf with curved top and drop it into the smooth non-stick skillet.", + "Pick up the bread with golden-brown crust and put it in the smooth non-stick skillet", + "Take the bread with split top and place it inside the flat-bottom skillet", + "Move the small golden brown bread into the medium-sized frying skillet from the table", + "Take the soft brown bread and put it in the round skillet with handle.", + "Take the light brown loaf with smooth sides with the left arm and drop into the round skillet with open handle end", + "Lift the bread with warm golden color using the left arm and move it to the skillet with black cooking surface", + "Use the left arm to pick the golden bread loaf and place it into the round skillet with open handle end.", + "Take the smooth loaf with rounded edges and place it inside the skillet with black cooking surface", + "Use the left arm to take the small loaf with curved top and move it into the dark gray skillet.", + "Grab the smooth loaf with rounded edges and place it inside the smooth non-stick skillet", + "Take the soft brown bread and put it in the medium-sized frying skillet.", + "Place the small golden brown bread into the metal skillet with comfortable grip with the left arm.", + "Pick up the bread with warm golden color and place it in the medium-sized frying skillet.", + "Take the hand-sized oval loaf off the table into the smooth non-stick skillet", + "Grab the smooth loaf with rounded edges using the left arm and place it in the black-surfaced skillet with gray sides", + "Grab the smooth loaf with rounded edges and stick it in the smooth non-stick skillet.", + "Use the left arm to pick the bread with golden-brown crust for the metal skillet", + "Grab the hand-sized oval loaf and place it inside the gray skillet for stovetop cooking." + ], + "unseen": [ + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the left arm.", + "Take the oval bread and put it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Grab the oval bread and set it in the dark skillet with shiny finish", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the left arm.", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Grab the oval-shaped soft bread and place it in the dark skillet with shiny finish", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Use the left arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Move the oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Use the left arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Move the oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the left arm.", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Grab the oval bread and set it in the dark skillet with shiny finish", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Move the oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Take the oval-shaped soft bread and put it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the left arm.", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and place it in the dark skillet with shiny finish", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Use the left arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the left arm.", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Use the left arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the left arm.", + "Take the oval-shaped soft bread and put it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the oval bread to the dark skillet with shiny finish.", + "Grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Move the oval bread to the dark skillet with shiny finish using the left arm.", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode1.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..4dca1b4e0c847d5868a7982c37de21f0ba2702f9 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the golden bread off the table into the skillet with extended grip handle", + "Pick the light golden brown bread up using the right arm and drop it in the round pan with hole in handle.", + "Use the right arm to move the square-shaped bread into the round pan with hole in handle", + "Take the square-shaped bread and place it inside the black pan with curved edges", + "Use the right arm to lift the bread loaf with bumpy surface and place it into the skillet with extended grip handle.", + "Grab the cuboid bread using the right arm and place it in the smooth round pan made of iron", + "Use the right arm to pick the golden bread loaf up for the heavy black cooking skillet", + "Use the right arm to take the hand-sized bread block and move it into the versatile skillet for stovetop cooking.", + "Grab the cuboid bread and stick it in the black pan with curved edges.", + "Take the cuboid bread and put it in the medium black pan with handle.", + "Use the right arm to pick the soft bread and place it into the versatile skillet for stovetop cooking.", + "Pick up the bread block with light patches and place it in the dark pan with sturdy grip.", + "Lift the bread loaf with bumpy surface and drop it into the flat-bottomed skillet with long handle", + "Place the square-shaped bread into the versatile skillet for stovetop cooking with the right arm.", + "Use the right arm to pick the doughy and soft bread for the medium black pan with handle", + "Grab the golden bread with the right arm and place in the round cooking pan", + "Use the right arm to move the hand-sized bread block and set it into the round cooking pan.", + "Pick the bread block with light patches with the right arm and set it in the dark pan with sturdy grip", + "Grab the bread with rough texture and place it inside the black pan with curved edges", + "Grab the bread with rough texture and drop it into the smooth round pan made of iron", + "Transfer the cuboid bread into the black skillet with smooth base from the table", + "Take the bread block with light patches and put it in the medium black pan with handle.", + "Take the bread with rough texture and set it into the heavy black cooking skillet", + "Lift the golden bread and drop it into the heavy black cooking skillet.", + "Set the bread loaf with uneven edges into the skillet with extended grip handle after grabbing", + "Use the right arm to stick the golden bread loaf into the round cooking pan.", + "Use the right arm to grab the golden bread and set it in the heavy black cooking skillet.", + "Take the cuboid bread and place it inside the black skillet with smooth base", + "Grab the bread block with light patches from the table and set it in the round cooking pan.", + "Move the light golden brown bread into the black skillet with smooth base from the table", + "Pick the bread loaf with uneven edges and transfer it to the black skillet with smooth base", + "Put the square-shaped bread into the versatile skillet for stovetop cooking.", + "Take the bread block with light patches and drop it into the dark pan with sturdy grip.", + "Place the bread loaf with uneven edges into the versatile skillet for stovetop cooking using the right arm", + "Use the right arm to pick the bread block with light patches and put it in the medium black pan with handle", + "Place the bread loaf with bumpy surface from the table into the dark pan with sturdy grip", + "Use the right arm to grab the bread loaf with bumpy surface for the round cooking pan", + "Use the right arm to set the doughy and soft bread into the skillet with extended grip handle.", + "Pick the bread with rough texture and set it into the black pan with curved edges.", + "Put the bread block with light patches into the skillet with extended grip handle after grabbing it", + "Take the bread loaf with bumpy surface with the right arm and drop into the dark pan with sturdy grip", + "Pick up the hand-sized bread block with the right arm and drop it in the black skillet with smooth base", + "Pick up the light golden brown bread and put it in the round pan with hole in handle", + "Move the cuboid bread from table into the smooth round pan made of iron", + "Use the right arm to place the soft bread into the round pan with hole in handle", + "Grab the cuboid bread and place it inside the skillet with extended grip handle.", + "Move the golden bread to the flat-bottomed skillet with long handle using the right arm", + "Pick the hand-sized bread block off the table and place it in the round pan with hole in handle.", + "Lift the soft bread using the right arm and move it to the round pan with hole in handle", + "Use the right arm to grab the golden bread for the solid dark-colored round pan", + "Take the bread with rough texture off the table into the black skillet with smooth base", + "Pick the bread loaf with bumpy surface up using the right arm and drop it in the black skillet with smooth base.", + "Use the right arm to move the golden bread into the heavy black cooking skillet", + "Take the golden bread and place it inside the smooth round pan made of iron", + "Use the right arm to lift the hand-sized bread block and place it into the black pan with curved edges.", + "Grab the doughy and soft bread using the right arm and place it in the solid dark-colored round pan", + "Use the right arm to pick the hand-sized bread block up for the versatile skillet for stovetop cooking", + "Use the right arm to take the hand-sized bread block and move it into the versatile skillet for stovetop cooking.", + "Grab the bread loaf with uneven edges and stick it in the solid dark-colored round pan.", + "Take the bread block with light patches and put it in the medium black pan with handle.", + "Use the right arm to pick the cuboid bread and place it into the smooth round pan made of iron.", + "Pick up the bread with rough texture and place it in the versatile skillet for stovetop cooking.", + "Lift the bread with rough texture and drop it into the round cooking pan", + "Place the doughy and soft bread into the solid dark-colored round pan with the right arm.", + "Use the right arm to pick the bread loaf with uneven edges for the black skillet with smooth base", + "Grab the doughy and soft bread with the right arm and place in the flat-bottomed skillet with long handle", + "Use the right arm to move the hand-sized bread block and set it into the black pan with curved edges.", + "Pick the bread loaf with bumpy surface with the right arm and set it in the versatile skillet for stovetop cooking", + "Grab the light golden brown bread and place it inside the heavy black cooking skillet", + "Grab the soft bread and drop it into the black skillet with smooth base", + "Transfer the soft bread into the black pan with curved edges from the table", + "Take the bread block with light patches and put it in the black skillet with smooth base.", + "Take the bread loaf with bumpy surface and set it into the dark pan with sturdy grip", + "Lift the square-shaped bread and drop it into the black skillet with smooth base.", + "Set the bread with rough texture into the medium black pan with handle after grabbing", + "Use the right arm to stick the golden bread into the solid dark-colored round pan.", + "Use the right arm to grab the hand-sized bread block and set it in the heavy black cooking skillet.", + "Take the soft bread and place it inside the solid dark-colored round pan", + "Grab the cuboid bread from the table and set it in the round pan with hole in handle.", + "Move the soft bread into the versatile skillet for stovetop cooking from the table", + "Pick the bread with rough texture and transfer it to the round pan with hole in handle", + "Put the bread with rough texture into the versatile skillet for stovetop cooking.", + "Take the golden bread and drop it into the medium black pan with handle.", + "Place the square-shaped bread into the flat-bottomed skillet with long handle using the right arm", + "Use the right arm to pick the bread block with light patches and put it in the solid dark-colored round pan", + "Place the light golden brown bread from the table into the skillet with extended grip handle", + "Use the right arm to grab the golden bread for the smooth round pan made of iron", + "Use the right arm to set the golden bread into the round pan with hole in handle.", + "Pick the bread loaf with uneven edges and set it into the black pan with curved edges.", + "Put the bread loaf with uneven edges into the versatile skillet for stovetop cooking after grabbing it", + "Take the golden bread with the right arm and drop into the skillet with extended grip handle", + "Pick up the golden bread with the right arm and drop it in the black skillet with smooth base", + "Pick up the square-shaped bread and put it in the flat-bottomed skillet with long handle", + "Move the golden bread loaf from table into the heavy black cooking skillet", + "Use the right arm to place the bread with rough texture into the flat-bottomed skillet with long handle", + "Grab the doughy and soft bread and place it inside the black pan with curved edges.", + "Move the square-shaped bread to the solid dark-colored round pan using the right arm", + "Pick the bread loaf with uneven edges off the table and place it in the round pan with hole in handle.", + "Lift the bread loaf with uneven edges using the right arm and move it to the black skillet with smooth base", + "Use the right arm to grab the square-shaped bread for the skillet with extended grip handle" + ], + "unseen": [ + "Use the right arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Take the bread loaf with soft surface and put it in the round cast-iron skillet", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Grab the rectangular bread loaf and set it in the black skillet", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Move the bread loaf with soft surface to the iron skillet for frying foods using the right arm.", + "Grab the bread with golden crust and drop it into the black skillet.", + "Use the right arm to move the rectangular bread loaf to the round cast-iron skillet.", + "Use the right arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Take the rectangular bread loaf and put it in the round cast-iron skillet", + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it in the black skillet", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Move the rectangular bread loaf to the black skillet using the right arm.", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Use the right arm to move the bread with golden crust to the iron skillet for frying foods.", + "Use the right arm to grab the bread loaf with soft surface and set it in the black skillet", + "Pick up the bread with golden crust and drop it into the round cast-iron skillet", + "Take the bread loaf with soft surface and put it in the black skillet", + "Pick the bread with golden crust up and place it in the black skillet", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it into the black skillet.", + "Move the bread loaf with soft surface to the black skillet using the right arm.", + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Use the right arm to move the bread with golden crust to the round cast-iron skillet.", + "Use the right arm to grab the bread with golden crust and set it in the black skillet", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Take the rectangular bread loaf and put it in the iron skillet for frying foods", + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it into the black skillet.", + "Move the bread loaf with soft surface to the round cast-iron skillet using the right arm.", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Use the right arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Use the right arm to grab the bread with golden crust and set it in the black skillet", + "Pick up the bread with golden crust and drop it into the iron skillet for frying foods", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Move the bread with golden crust to the black skillet using the right arm.", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Use the right arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Use the right arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Grab the rectangular bread loaf and set it in the black skillet", + "Grab the bread with golden crust and place it in the black skillet", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Move the bread with golden crust to the round cast-iron skillet using the right arm.", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Use the right arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Use the right arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Take the rectangular bread loaf and put it in the iron skillet for frying foods", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Grab the bread with golden crust and set it in the black skillet", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Move the bread with golden crust to the iron skillet for frying foods using the right arm.", + "Grab the bread with golden crust and drop it into the black skillet.", + "Use the right arm to move the bread with golden crust to the iron skillet for frying foods.", + "Use the right arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Take the bread with golden crust and put it in the black skillet", + "Pick the bread loaf with soft surface up and place it in the black skillet", + "Grab the rectangular bread loaf and set it in the black skillet", + "Grab the bread with golden crust and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it into the black skillet.", + "Move the bread with golden crust to the round cast-iron skillet using the right arm.", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Use the right arm to move the rectangular bread loaf to the round cast-iron skillet.", + "Use the right arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the iron skillet for frying foods", + "Take the bread loaf with soft surface and put it in the black skillet", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Move the bread loaf with soft surface to the black skillet using the right arm.", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Use the right arm to move the bread loaf with soft surface to the black skillet.", + "Use the right arm to grab the bread loaf with soft surface and set it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Take the rectangular bread loaf and put it in the iron skillet for frying foods", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and set it in the black skillet", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it into the black skillet.", + "Move the bread loaf with soft surface to the iron skillet for frying foods using the right arm.", + "Grab the bread with golden crust and drop it into the black skillet.", + "Use the right arm to move the rectangular bread loaf to the round cast-iron skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode10.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..396953eae0e7bb3443e14f3360284ad361f7712e --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to move the golden bread loaf into the flat-bottomed skillet with long handle", + "Place the light golden brown bread into the smooth round pan made of iron with the right arm.", + "Pick the hand-sized bread block up using the right arm and drop it in the versatile skillet for stovetop cooking.", + "Use the right arm to grab the square-shaped bread for the skillet with extended grip handle", + "Take the square-shaped bread and place it inside the black skillet with smooth base", + "Grab the golden bread and place it inside the round cooking pan", + "Pick the square-shaped bread with the right arm and set it in the solid dark-colored round pan", + "Take the bread with rough texture with the right arm and drop into the solid dark-colored round pan", + "Move the bread loaf with bumpy surface to the round pan with hole in handle using the right arm", + "Pick the golden bread loaf and transfer it to the versatile skillet for stovetop cooking", + "Take the doughy and soft bread and set it into the black pan with curved edges", + "Grab the square-shaped bread and drop it into the dark pan with sturdy grip", + "Use the right arm to grab the bread loaf with uneven edges and set it in the black pan with curved edges.", + "Grab the golden bread loaf with the right arm and place in the flat-bottomed skillet with long handle", + "Put the light golden brown bread into the round pan with hole in handle after grabbing it", + "Pick the square-shaped bread off the table and place it in the smooth round pan made of iron.", + "Use the right arm to take the bread loaf with bumpy surface and move it into the black skillet with smooth base.", + "Take the golden bread off the table into the round cooking pan", + "Put the doughy and soft bread into the skillet with extended grip handle.", + "Pick the golden bread loaf and set it into the smooth round pan made of iron.", + "Use the right arm to stick the golden bread into the round cooking pan.", + "Set the soft bread into the flat-bottomed skillet with long handle after grabbing", + "Take the bread loaf with bumpy surface and drop it into the heavy black cooking skillet.", + "Grab the bread with rough texture and place it inside the black skillet with smooth base.", + "Move the hand-sized bread block into the dark pan with sturdy grip from the table", + "Grab the bread with rough texture and stick it in the black pan with curved edges.", + "Pick up the light golden brown bread with the right arm and drop it in the heavy black cooking skillet", + "Use the right arm to lift the hand-sized bread block and place it into the versatile skillet for stovetop cooking.", + "Lift the cuboid bread using the right arm and move it to the medium black pan with handle", + "Pick up the hand-sized bread block and put it in the versatile skillet for stovetop cooking", + "Use the right arm to pick the bread loaf with bumpy surface and put it in the heavy black cooking skillet", + "Place the doughy and soft bread into the dark pan with sturdy grip using the right arm", + "Grab the doughy and soft bread from the table and set it in the versatile skillet for stovetop cooking.", + "Take the golden bread loaf and place it inside the versatile skillet for stovetop cooking", + "Use the right arm to move the bread loaf with bumpy surface and set it into the heavy black cooking skillet.", + "Take the cuboid bread and put it in the skillet with extended grip handle.", + "Use the right arm to pick the bread loaf with bumpy surface and place it into the black skillet with smooth base.", + "Lift the bread loaf with bumpy surface and drop it into the round cooking pan.", + "Use the right arm to pick the bread loaf with bumpy surface for the solid dark-colored round pan", + "Lift the bread loaf with bumpy surface and drop it into the round cooking pan", + "Grab the hand-sized bread block using the right arm and place it in the round cooking pan", + "Place the light golden brown bread from the table into the skillet with extended grip handle", + "Pick up the golden bread and place it in the black pan with curved edges.", + "Move the bread with rough texture from table into the medium black pan with handle", + "Use the right arm to set the golden bread into the black pan with curved edges.", + "Use the right arm to place the bread loaf with uneven edges into the versatile skillet for stovetop cooking", + "Use the right arm to grab the golden bread loaf for the black skillet with smooth base", + "Take the cuboid bread and put it in the round cooking pan.", + "Use the right arm to pick the light golden brown bread up for the black pan with curved edges", + "Transfer the hand-sized bread block into the round cooking pan from the table", + "Use the right arm to move the cuboid bread into the black pan with curved edges", + "Place the soft bread into the dark pan with sturdy grip with the right arm.", + "Pick the bread with rough texture up using the right arm and drop it in the dark pan with sturdy grip.", + "Use the right arm to grab the golden bread for the round cooking pan", + "Take the cuboid bread and place it inside the black skillet with smooth base", + "Grab the cuboid bread and place it inside the dark pan with sturdy grip", + "Pick the bread loaf with uneven edges with the right arm and set it in the skillet with extended grip handle", + "Take the soft bread with the right arm and drop into the round cooking pan", + "Move the golden bread to the black skillet with smooth base using the right arm", + "Pick the cuboid bread and transfer it to the black skillet with smooth base", + "Take the square-shaped bread and set it into the medium black pan with handle", + "Grab the light golden brown bread and drop it into the black pan with curved edges", + "Use the right arm to grab the doughy and soft bread and set it in the black pan with curved edges.", + "Grab the bread block with light patches with the right arm and place in the medium black pan with handle", + "Put the bread block with light patches into the heavy black cooking skillet after grabbing it", + "Pick the doughy and soft bread off the table and place it in the round pan with hole in handle.", + "Use the right arm to take the cuboid bread and move it into the skillet with extended grip handle.", + "Take the golden bread off the table into the skillet with extended grip handle", + "Put the light golden brown bread into the black pan with curved edges.", + "Pick the hand-sized bread block and set it into the smooth round pan made of iron.", + "Use the right arm to stick the bread loaf with uneven edges into the flat-bottomed skillet with long handle.", + "Set the bread loaf with uneven edges into the medium black pan with handle after grabbing", + "Take the cuboid bread and drop it into the versatile skillet for stovetop cooking.", + "Grab the soft bread and place it inside the solid dark-colored round pan.", + "Move the bread loaf with uneven edges into the round cooking pan from the table", + "Grab the bread block with light patches and stick it in the smooth round pan made of iron.", + "Pick up the bread loaf with uneven edges with the right arm and drop it in the skillet with extended grip handle", + "Use the right arm to lift the bread loaf with uneven edges and place it into the medium black pan with handle.", + "Lift the bread block with light patches using the right arm and move it to the solid dark-colored round pan", + "Pick up the doughy and soft bread and put it in the dark pan with sturdy grip", + "Use the right arm to pick the golden bread and put it in the solid dark-colored round pan", + "Place the light golden brown bread into the smooth round pan made of iron using the right arm", + "Grab the doughy and soft bread from the table and set it in the round pan with hole in handle.", + "Take the light golden brown bread and place it inside the versatile skillet for stovetop cooking", + "Use the right arm to move the golden bread and set it into the flat-bottomed skillet with long handle.", + "Take the hand-sized bread block and put it in the heavy black cooking skillet.", + "Use the right arm to pick the bread loaf with uneven edges and place it into the round pan with hole in handle.", + "Lift the bread loaf with uneven edges and drop it into the versatile skillet for stovetop cooking.", + "Use the right arm to pick the bread with rough texture for the skillet with extended grip handle", + "Lift the bread loaf with uneven edges and drop it into the black skillet with smooth base", + "Grab the doughy and soft bread using the right arm and place it in the round cooking pan", + "Place the bread with rough texture from the table into the black skillet with smooth base", + "Pick up the soft bread and place it in the black skillet with smooth base.", + "Move the golden bread loaf from table into the round pan with hole in handle", + "Use the right arm to set the hand-sized bread block into the black skillet with smooth base.", + "Use the right arm to place the golden bread loaf into the dark pan with sturdy grip", + "Use the right arm to grab the golden bread for the round cooking pan", + "Take the soft bread and put it in the solid dark-colored round pan.", + "Use the right arm to pick the bread block with light patches up for the black pan with curved edges", + "Transfer the light golden brown bread into the versatile skillet for stovetop cooking from the table" + ], + "unseen": [ + "Grab the rectangular bread loaf and place it in the black skillet", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Use the right arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the bread with golden crust and place it into the round cast-iron skillet.", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Take the rectangular bread loaf and put it in the iron skillet for frying foods", + "Use the right arm to move the bread with golden crust to the iron skillet for frying foods.", + "Move the bread loaf with soft surface to the round cast-iron skillet using the right arm.", + "Grab the bread with golden crust and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Use the right arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Pick up the bread with golden crust and drop it into the iron skillet for frying foods", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Use the right arm to move the bread with golden crust to the round cast-iron skillet.", + "Move the bread loaf with soft surface to the black skillet using the right arm.", + "Grab the bread with golden crust and place it in the black skillet", + "Grab the bread with golden crust and drop it into the black skillet.", + "Use the right arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Take the bread loaf with soft surface and put it in the black skillet", + "Use the right arm to move the bread with golden crust to the black skillet.", + "Move the bread loaf with soft surface to the round cast-iron skillet using the right arm.", + "Grab the bread with golden crust and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Use the right arm to grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and set it in the black skillet", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Take the bread loaf with soft surface and put it in the round cast-iron skillet", + "Use the right arm to move the bread with golden crust to the round cast-iron skillet.", + "Move the bread loaf with soft surface to the iron skillet for frying foods using the right arm.", + "Grab the bread with golden crust and place it in the black skillet", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Use the right arm to grab the bread loaf with soft surface and set it in the black skillet", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Pick the bread with golden crust up and place it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Use the right arm to move the rectangular bread loaf to the round cast-iron skillet.", + "Move the bread loaf with soft surface to the black skillet using the right arm.", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Grab the bread with golden crust and drop it into the black skillet.", + "Use the right arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the black skillet", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Take the bread loaf with soft surface and put it in the black skillet", + "Use the right arm to move the bread with golden crust to the black skillet.", + "Move the bread loaf with soft surface to the black skillet using the right arm.", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Grab the bread with golden crust and drop it into the black skillet.", + "Use the right arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the round cast-iron skillet", + "Take the bread with golden crust and put it in the black skillet", + "Use the right arm to move the bread with golden crust to the black skillet.", + "Move the rectangular bread loaf to the round cast-iron skillet using the right arm.", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Use the right arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Use the right arm to move the bread with golden crust to the round cast-iron skillet.", + "Move the bread with golden crust to the iron skillet for frying foods using the right arm.", + "Grab the rectangular bread loaf and place it in the round cast-iron skillet", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Use the right arm to grab the bread loaf with soft surface and set it in the black skillet", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Use the right arm to move the bread with golden crust to the black skillet.", + "Move the rectangular bread loaf to the iron skillet for frying foods using the right arm.", + "Grab the bread with golden crust and place it in the black skillet", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Use the right arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Pick up the bread loaf with soft surface and drop it into the round cast-iron skillet", + "Take the rectangular bread loaf and put it in the iron skillet for frying foods", + "Use the right arm to move the bread with golden crust to the round cast-iron skillet.", + "Move the rectangular bread loaf to the iron skillet for frying foods using the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode11.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..0b98f5d1a6ca5b15d385ef490730f30c52f0c6f1 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the small loaf with curved top and stick it in the skillet with extended grip handle.", + "Use the left arm to move the smooth loaf with rounded edges and set it into the round cooking pan.", + "Grab the light brown bread with ridges and drop it into the round pan with hole in handle", + "Put the light brown loaf with smooth sides into the versatile skillet for stovetop cooking.", + "Move the brown loaf to the solid dark-colored round pan using the left arm", + "Move the small golden brown bread into the skillet with extended grip handle from the table", + "Lift the golden bread loaf and drop it into the round pan with hole in handle", + "Use the left arm to stick the light brown loaf with smooth sides into the round cooking pan.", + "Transfer the small golden brown bread into the round pan with hole in handle from the table", + "Move the small loaf with curved top from table into the round cooking pan", + "Take the soft brown bread and put it in the versatile skillet for stovetop cooking.", + "Take the hand-sized oval loaf and place it inside the round pan with hole in handle", + "Use the left arm to pick the bread with split top and put it in the smooth round pan made of iron", + "Grab the light brown bread with ridges and place it inside the black skillet with smooth base.", + "Lift the bread with split top using the left arm and move it to the versatile skillet for stovetop cooking", + "Pick the light brown bread with ridges off the table and place it in the heavy black cooking skillet.", + "Pick up the hand-sized oval loaf and put it in the dark pan with sturdy grip", + "Place the bread with warm golden color into the versatile skillet for stovetop cooking using the left arm", + "Pick the golden bread loaf and set it into the black skillet with smooth base.", + "Place the brown loaf into the versatile skillet for stovetop cooking with the left arm.", + "Pick the small golden brown bread up using the left arm and drop it in the heavy black cooking skillet.", + "Grab the light brown loaf with smooth sides with the left arm and place in the black skillet with smooth base", + "Set the small golden brown bread into the heavy black cooking skillet after grabbing", + "Pick up the bread with split top and place it in the black skillet with smooth base.", + "Take the golden bread loaf and drop it into the black skillet with smooth base.", + "Use the left arm to pick the light brown loaf with smooth sides for the solid dark-colored round pan", + "Use the left arm to place the brown loaf into the heavy black cooking skillet", + "Grab the smooth loaf with rounded edges and place it inside the round pan with hole in handle", + "Pick the bread with split top and transfer it to the dark pan with sturdy grip", + "Use the left arm to take the small loaf with curved top and move it into the flat-bottomed skillet with long handle.", + "Put the hand-sized oval loaf into the smooth round pan made of iron after grabbing it", + "Grab the small loaf with curved top using the left arm and place it in the black pan with curved edges", + "Pick the bread with golden-brown crust with the left arm and set it in the versatile skillet for stovetop cooking", + "Take the bread with golden-brown crust off the table into the solid dark-colored round pan", + "Lift the bread with warm golden color and drop it into the flat-bottomed skillet with long handle.", + "Use the left arm to move the small loaf with curved top into the dark pan with sturdy grip", + "Use the left arm to lift the hand-sized oval loaf and place it into the flat-bottomed skillet with long handle.", + "Take the bread with golden-brown crust and place it inside the smooth round pan made of iron", + "Pick up the brown loaf with the left arm and drop it in the versatile skillet for stovetop cooking", + "Place the bread with split top from the table into the solid dark-colored round pan", + "Use the left arm to pick the bread with warm golden color and place it into the black pan with curved edges.", + "Use the left arm to grab the hand-sized oval loaf for the versatile skillet for stovetop cooking", + "Use the left arm to set the small loaf with curved top into the black skillet with smooth base.", + "Use the left arm to grab the smooth loaf with rounded edges and set it in the smooth round pan made of iron.", + "Use the left arm to pick the smooth loaf with rounded edges up for the round pan with hole in handle", + "Take the soft brown bread with the left arm and drop into the skillet with extended grip handle", + "Take the hand-sized oval loaf and set it into the medium black pan with handle", + "Use the left arm to grab the light brown loaf with smooth sides for the black pan with curved edges", + "Grab the small golden brown bread from the table and set it in the round cooking pan.", + "Take the smooth loaf with rounded edges and put it in the versatile skillet for stovetop cooking.", + "Grab the bread with warm golden color and stick it in the flat-bottomed skillet with long handle.", + "Use the left arm to move the hand-sized oval loaf and set it into the black skillet with smooth base.", + "Grab the light brown bread with ridges and drop it into the solid dark-colored round pan", + "Put the light brown loaf with smooth sides into the versatile skillet for stovetop cooking.", + "Move the bread with golden-brown crust to the smooth round pan made of iron using the left arm", + "Move the brown loaf into the smooth round pan made of iron from the table", + "Lift the bread with warm golden color and drop it into the black pan with curved edges", + "Use the left arm to stick the brown loaf into the round pan with hole in handle.", + "Transfer the small loaf with curved top into the heavy black cooking skillet from the table", + "Move the small golden brown bread from table into the black skillet with smooth base", + "Take the bread with split top and put it in the flat-bottomed skillet with long handle.", + "Take the golden bread loaf and place it inside the smooth round pan made of iron", + "Use the left arm to pick the light brown bread with ridges and put it in the dark pan with sturdy grip", + "Grab the brown loaf and place it inside the black skillet with smooth base.", + "Lift the bread with golden-brown crust using the left arm and move it to the heavy black cooking skillet", + "Pick the bread with golden-brown crust off the table and place it in the smooth round pan made of iron.", + "Pick up the smooth loaf with rounded edges and put it in the round pan with hole in handle", + "Place the small loaf with curved top into the round pan with hole in handle using the left arm", + "Pick the bread with warm golden color and set it into the solid dark-colored round pan.", + "Place the brown loaf into the heavy black cooking skillet with the left arm.", + "Pick the soft brown bread up using the left arm and drop it in the skillet with extended grip handle.", + "Grab the small golden brown bread with the left arm and place in the solid dark-colored round pan", + "Set the small loaf with curved top into the solid dark-colored round pan after grabbing", + "Pick up the bread with split top and place it in the skillet with extended grip handle.", + "Take the light brown loaf with smooth sides and drop it into the round pan with hole in handle.", + "Use the left arm to pick the small loaf with curved top for the round cooking pan", + "Use the left arm to place the bread with golden-brown crust into the heavy black cooking skillet", + "Grab the bread with split top and place it inside the skillet with extended grip handle", + "Pick the bread with golden-brown crust and transfer it to the black skillet with smooth base", + "Use the left arm to take the brown loaf and move it into the heavy black cooking skillet.", + "Put the smooth loaf with rounded edges into the smooth round pan made of iron after grabbing it", + "Grab the bread with golden-brown crust using the left arm and place it in the round cooking pan", + "Pick the bread with split top with the left arm and set it in the dark pan with sturdy grip", + "Take the golden bread loaf off the table into the round cooking pan", + "Lift the hand-sized oval loaf and drop it into the medium black pan with handle.", + "Use the left arm to move the small loaf with curved top into the versatile skillet for stovetop cooking", + "Use the left arm to lift the small loaf with curved top and place it into the heavy black cooking skillet.", + "Take the small golden brown bread and place it inside the flat-bottomed skillet with long handle", + "Pick up the bread with warm golden color with the left arm and drop it in the smooth round pan made of iron", + "Place the small golden brown bread from the table into the solid dark-colored round pan", + "Use the left arm to pick the brown loaf and place it into the dark pan with sturdy grip.", + "Use the left arm to grab the brown loaf for the dark pan with sturdy grip", + "Use the left arm to set the bread with golden-brown crust into the versatile skillet for stovetop cooking.", + "Use the left arm to grab the bread with warm golden color and set it in the solid dark-colored round pan.", + "Use the left arm to pick the small golden brown bread up for the round cooking pan", + "Take the light brown bread with ridges with the left arm and drop into the flat-bottomed skillet with long handle", + "Take the bread with warm golden color and set it into the smooth round pan made of iron", + "Use the left arm to grab the small loaf with curved top for the smooth round pan made of iron", + "Grab the soft brown bread from the table and set it in the heavy black cooking skillet.", + "Take the golden bread loaf and put it in the round cooking pan." + ], + "unseen": [ + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Take the oval bread and put it in the round cast-iron skillet", + "Use the left arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Use the left arm to move the oval bread to the black skillet.", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the left arm.", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Grab the oval bread and drop it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Use the left arm to grab the oval bread and set it in the black skillet", + "Use the left arm to move the rounded oval bread to the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Move the rounded oval bread to the black skillet using the left arm.", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Grab the oval bread and drop it into the black skillet.", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Take the oval bread and put it in the iron skillet for frying foods", + "Use the left arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Use the left arm to move the rounded oval bread to the black skillet.", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Move the oval-shaped soft bread to the round cast-iron skillet using the left arm.", + "Pick the rounded oval bread up and place it in the black skillet", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Grab the oval bread and set it in the round cast-iron skillet", + "Take the oval bread and put it in the black skillet", + "Use the left arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Use the left arm to move the oval bread to the black skillet.", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Move the rounded oval bread to the round cast-iron skillet using the left arm.", + "Pick the oval bread up and place it in the black skillet", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Take the oval bread and put it in the black skillet", + "Use the left arm to grab the oval bread and set it in the iron skillet for frying foods", + "Use the left arm to move the oval bread to the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the black skillet", + "Move the rounded oval bread to the round cast-iron skillet using the left arm.", + "Pick the oval bread up and place it in the black skillet", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Take the rounded oval bread and put it in the black skillet", + "Use the left arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Use the left arm to move the rounded oval bread to the round cast-iron skillet.", + "Grab the rounded oval bread and place it into the black skillet.", + "Grab the oval bread and place it in the round cast-iron skillet", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Move the oval-shaped soft bread to the black skillet using the left arm.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Take the oval bread and put it in the iron skillet for frying foods", + "Use the left arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Use the left arm to move the oval bread to the round cast-iron skillet.", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Grab the oval bread and place it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Move the oval-shaped soft bread to the black skillet using the left arm.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Grab the oval bread and set it in the black skillet", + "Take the oval bread and put it in the round cast-iron skillet", + "Use the left arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Use the left arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Grab the oval bread and place it in the black skillet", + "Pick up the oval bread and drop it into the black skillet", + "Move the oval bread to the iron skillet for frying foods using the left arm.", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Use the left arm to grab the oval bread and set it in the iron skillet for frying foods", + "Use the left arm to move the oval-shaped soft bread to the black skillet.", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the black skillet", + "Move the rounded oval bread to the black skillet using the left arm.", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Use the left arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Use the left arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Grab the oval bread and place it in the round cast-iron skillet", + "Pick up the oval bread and drop it into the black skillet", + "Move the oval bread to the black skillet using the left arm.", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the black skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode12.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..361ff89b697cb87153fd972bd49c4554dfd95971 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the soft brown bread and place it inside the metal skillet with comfortable grip", + "Use the right arm to set the small golden brown bread into the dark gray skillet.", + "Pick the small loaf with curved top and transfer it to the gray skillet for stovetop cooking", + "Use the right arm to place the golden bread loaf into the metal skillet", + "Place the bread with split top from the table into the medium-sized frying skillet", + "Take the bread with warm golden color and set it into the metal skillet", + "Lift the smooth loaf with rounded edges and drop it into the dark gray skillet", + "Grab the small loaf with curved top from the table and set it in the smooth non-stick skillet.", + "Move the bread with split top from table into the metal skillet", + "Use the right arm to pick the bread with warm golden color and place it into the smooth non-stick skillet.", + "Use the right arm to lift the golden bread loaf and place it into the metal skillet with comfortable grip.", + "Take the bread with warm golden color and drop it into the dark gray skillet.", + "Use the right arm to pick the hand-sized oval loaf and put it in the gray skillet for stovetop cooking", + "Grab the bread with split top using the right arm and place it in the flat-bottom skillet", + "Grab the bread with split top and place it inside the dark gray skillet.", + "Put the light brown loaf with smooth sides into the round skillet with handle after grabbing it", + "Grab the bread with warm golden color with the right arm and place in the metal skillet with comfortable grip", + "Use the right arm to take the smooth loaf with rounded edges and move it into the skillet with black cooking surface.", + "Pick up the small golden brown bread and place it in the black-surfaced skillet with gray sides.", + "Grab the bread with split top and stick it in the black-surfaced skillet with gray sides.", + "Set the brown loaf into the medium-sized frying skillet after grabbing", + "Grab the light brown loaf with smooth sides and drop it into the gray skillet for stovetop cooking", + "Use the right arm to grab the bread with split top and set it in the medium-sized frying skillet.", + "Lift the soft brown bread using the right arm and move it to the medium-sized frying skillet", + "Use the right arm to grab the light brown loaf with smooth sides for the flat-bottom skillet", + "Use the right arm to pick the golden bread loaf up for the skillet with black cooking surface", + "Lift the light brown bread with ridges and drop it into the medium-sized frying skillet.", + "Use the right arm to move the small loaf with curved top into the medium-sized frying skillet", + "Place the bread with warm golden color into the gray skillet for stovetop cooking with the right arm.", + "Take the brown loaf off the table into the smooth non-stick skillet", + "Move the light brown bread with ridges to the metal skillet with comfortable grip using the right arm", + "Use the right arm to move the bread with golden-brown crust and set it into the round skillet with open handle end.", + "Transfer the smooth loaf with rounded edges into the flat-bottom skillet from the table", + "Take the small golden brown bread and put it in the round skillet with handle.", + "Put the small golden brown bread into the black-surfaced skillet with gray sides.", + "Move the brown loaf into the round skillet with open handle end from the table", + "Pick the light brown loaf with smooth sides and set it into the skillet with black cooking surface.", + "Take the hand-sized oval loaf and place it inside the dark gray skillet", + "Take the small loaf with curved top and put it in the round skillet with handle.", + "Use the right arm to stick the small loaf with curved top into the round skillet with open handle end.", + "Grab the brown loaf and place it inside the metal skillet with comfortable grip", + "Pick the soft brown bread with the right arm and set it in the skillet for frying food", + "Use the right arm to pick the bread with warm golden color for the gray skillet for stovetop cooking", + "Pick up the brown loaf and put it in the smooth non-stick skillet", + "Pick up the brown loaf with the right arm and drop it in the medium-sized frying skillet", + "Take the golden bread loaf with the right arm and drop into the metal skillet", + "Pick the bread with split top off the table and place it in the metal skillet.", + "Pick the brown loaf up using the right arm and drop it in the metal skillet.", + "Use the right arm to grab the bread with warm golden color for the flat-bottom skillet", + "Place the hand-sized oval loaf into the metal skillet using the right arm", + "Take the soft brown bread and place it inside the flat-bottom skillet", + "Use the right arm to set the small golden brown bread into the smooth non-stick skillet.", + "Pick the brown loaf and transfer it to the medium-sized frying skillet", + "Use the right arm to place the soft brown bread into the round skillet with open handle end", + "Place the small golden brown bread from the table into the gray skillet for stovetop cooking", + "Take the soft brown bread and set it into the flat-bottom skillet", + "Lift the hand-sized oval loaf and drop it into the flat-bottom skillet", + "Grab the smooth loaf with rounded edges from the table and set it in the smooth non-stick skillet.", + "Move the light brown loaf with smooth sides from table into the smooth non-stick skillet", + "Use the right arm to pick the hand-sized oval loaf and place it into the black-surfaced skillet with gray sides.", + "Use the right arm to lift the smooth loaf with rounded edges and place it into the round skillet with handle.", + "Take the golden bread loaf and drop it into the round skillet with handle.", + "Use the right arm to pick the brown loaf and put it in the round skillet with open handle end", + "Grab the bread with warm golden color using the right arm and place it in the skillet with black cooking surface", + "Grab the bread with golden-brown crust and place it inside the skillet with black cooking surface.", + "Put the bread with warm golden color into the skillet for frying food after grabbing it", + "Grab the bread with golden-brown crust with the right arm and place in the round skillet with open handle end", + "Use the right arm to take the golden bread loaf and move it into the medium-sized frying skillet.", + "Pick up the light brown loaf with smooth sides and place it in the round skillet with open handle end.", + "Grab the soft brown bread and stick it in the skillet for frying food.", + "Set the brown loaf into the metal skillet after grabbing", + "Grab the small golden brown bread and drop it into the round skillet with open handle end", + "Use the right arm to grab the brown loaf and set it in the skillet for frying food.", + "Lift the soft brown bread using the right arm and move it to the round skillet with open handle end", + "Use the right arm to grab the hand-sized oval loaf for the skillet for frying food", + "Use the right arm to pick the small golden brown bread up for the gray skillet for stovetop cooking", + "Lift the bread with split top and drop it into the skillet for frying food.", + "Use the right arm to move the soft brown bread into the smooth non-stick skillet", + "Place the light brown bread with ridges into the metal skillet with the right arm.", + "Take the small golden brown bread off the table into the dark gray skillet", + "Move the light brown loaf with smooth sides to the dark gray skillet using the right arm", + "Use the right arm to move the hand-sized oval loaf and set it into the round skillet with open handle end.", + "Transfer the light brown bread with ridges into the round skillet with open handle end from the table", + "Take the golden bread loaf and put it in the metal skillet.", + "Put the brown loaf into the skillet for frying food.", + "Move the smooth loaf with rounded edges into the skillet for frying food from the table", + "Pick the light brown loaf with smooth sides and set it into the medium-sized frying skillet.", + "Take the light brown loaf with smooth sides and place it inside the round skillet with handle", + "Take the light brown bread with ridges and put it in the skillet with black cooking surface.", + "Use the right arm to stick the hand-sized oval loaf into the dark gray skillet.", + "Grab the light brown loaf with smooth sides and place it inside the smooth non-stick skillet", + "Pick the bread with split top with the right arm and set it in the flat-bottom skillet", + "Use the right arm to pick the bread with split top for the metal skillet", + "Pick up the bread with split top and put it in the dark gray skillet", + "Pick up the golden bread loaf with the right arm and drop it in the round skillet with open handle end", + "Take the bread with golden-brown crust with the right arm and drop into the medium-sized frying skillet", + "Pick the golden bread loaf off the table and place it in the medium-sized frying skillet.", + "Pick the brown loaf up using the right arm and drop it in the skillet for frying food.", + "Use the right arm to grab the hand-sized oval loaf for the flat-bottom skillet", + "Place the light brown bread with ridges into the metal skillet using the right arm" + ], + "unseen": [ + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the right arm.", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Use the right arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the oval bread and set it in the dark skillet with shiny finish", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Use the right arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Move the oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the oval bread and set it in the dark skillet with shiny finish", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Use the right arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Use the right arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Move the oval bread to the dark skillet with shiny finish using the right arm.", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Pick up the rounded oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Move the oval bread to the dark skillet with shiny finish using the right arm.", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Move the oval bread to the dark skillet with shiny finish using the right arm.", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Take the oval bread and put it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it in the dark skillet with shiny finish", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the dark skillet with shiny finish." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode13.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..305066a81b2b7bb16e413b5167e0e04bb50f39b9 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the bread with golden surface color with the left arm and drop into the flat-bottom skillet", + "Use the left arm to grab the soft golden baked bread and set it in the smooth non-stick skillet.", + "Use the left arm to place the rectangular bread soft inside into the round skillet with handle", + "Pick up the bread with firm crust edges with the left arm and drop it in the dark gray skillet", + "Take the rectangular bread soft inside and put it in the medium-sized frying skillet.", + "Take the square loaf of bread and drop it into the smooth non-stick skillet.", + "Put the rectangular bread soft inside into the medium-sized frying skillet.", + "Move the brown bread loaf into the skillet with black cooking surface from the table", + "Set the square loaf of bread into the metal skillet after grabbing", + "Grab the slice-shaped bread using the left arm and place it in the round skillet with handle", + "Pick the golden crusted bread slice off the table and place it in the metal skillet.", + "Use the left arm to pick the golden crusted bread slice and put it in the round skillet with handle", + "Grab the golden crusted bread slice and place it inside the skillet for frying food", + "Lift the soft golden baked bread and drop it into the metal skillet.", + "Use the left arm to pick the bread with firm crust edges and place it into the smooth non-stick skillet.", + "Pick the golden brown loaf-shaped bread with the left arm and set it in the skillet with black cooking surface", + "Lift the bread with rounded corners and drop it into the gray skillet for stovetop cooking", + "Use the left arm to take the golden bread and move it into the skillet for frying food.", + "Put the rectangular bread soft inside into the metal skillet after grabbing it", + "Take the soft golden baked bread and place it inside the dark gray skillet", + "Grab the bread with golden surface color and drop it into the dark gray skillet", + "Use the left arm to grab the rectangular bread soft inside for the round skillet with handle", + "Pick the soft golden baked bread up using the left arm and drop it in the gray skillet for stovetop cooking.", + "Use the left arm to stick the bread with rounded corners into the medium-sized frying skillet.", + "Take the rectangular bread soft inside and set it into the smooth non-stick skillet", + "Use the left arm to grab the bread loaf with square shape for the round skillet with open handle end", + "Transfer the bread with rounded corners into the dark gray skillet from the table", + "Grab the soft golden baked bread and stick it in the smooth non-stick skillet.", + "Pick up the bread loaf with square shape and place it in the round skillet with open handle end.", + "Move the brown bread loaf to the dark gray skillet using the left arm", + "Take the rectangular bread soft inside and place it inside the round skillet with handle", + "Place the slice-shaped bread into the flat-bottom skillet with the left arm.", + "Use the left arm to pick the golden crusted bread slice up for the flat-bottom skillet", + "Pick the brown bread loaf and set it into the metal skillet.", + "Grab the golden brown loaf-shaped bread from the table and set it in the smooth non-stick skillet.", + "Take the square loaf of bread off the table into the dark gray skillet", + "Grab the bread loaf with square shape and place it inside the black-surfaced skillet with gray sides.", + "Take the golden brown loaf-shaped bread and put it in the metal skillet.", + "Place the brown bread loaf into the skillet for frying food using the left arm", + "Pick up the bread with firm crust edges and put it in the flat-bottom skillet", + "Use the left arm to pick the golden bread for the medium-sized frying skillet", + "Use the left arm to move the bread with firm crust edges into the smooth non-stick skillet", + "Use the left arm to lift the bread loaf with square shape and place it into the black-surfaced skillet with gray sides.", + "Place the bread with firm crust edges from the table into the metal skillet with comfortable grip", + "Move the bread loaf with square shape from table into the metal skillet with comfortable grip", + "Use the left arm to set the soft golden baked bread into the flat-bottom skillet.", + "Pick the brown bread loaf and transfer it to the metal skillet", + "Grab the bread with rounded corners with the left arm and place in the metal skillet with comfortable grip", + "Use the left arm to move the rectangular bread soft inside and set it into the gray skillet for stovetop cooking.", + "Lift the soft golden baked bread using the left arm and move it to the smooth non-stick skillet", + "Take the slice-shaped bread with the left arm and drop into the round skillet with open handle end", + "Use the left arm to grab the golden brown loaf-shaped bread and set it in the metal skillet.", + "Use the left arm to place the slice-shaped bread into the skillet with black cooking surface", + "Pick up the slice-shaped bread with the left arm and drop it in the smooth non-stick skillet", + "Take the bread with firm crust edges and put it in the medium-sized frying skillet.", + "Take the slice-shaped bread and drop it into the smooth non-stick skillet.", + "Put the bread with golden surface color into the black-surfaced skillet with gray sides.", + "Move the bread with firm crust edges into the skillet with black cooking surface from the table", + "Set the square loaf of bread into the flat-bottom skillet after grabbing", + "Grab the golden bread using the left arm and place it in the dark gray skillet", + "Pick the golden bread off the table and place it in the skillet for frying food.", + "Use the left arm to pick the square loaf of bread and put it in the gray skillet for stovetop cooking", + "Grab the slice-shaped bread and place it inside the metal skillet with comfortable grip", + "Lift the golden bread and drop it into the metal skillet with comfortable grip.", + "Use the left arm to pick the bread with firm crust edges and place it into the metal skillet with comfortable grip.", + "Pick the soft golden baked bread with the left arm and set it in the black-surfaced skillet with gray sides", + "Lift the soft golden baked bread and drop it into the metal skillet", + "Use the left arm to take the soft golden baked bread and move it into the metal skillet with comfortable grip.", + "Put the brown bread loaf into the skillet for frying food after grabbing it", + "Take the bread with rounded corners and place it inside the medium-sized frying skillet", + "Grab the golden brown loaf-shaped bread and drop it into the round skillet with handle", + "Use the left arm to grab the brown bread loaf for the medium-sized frying skillet", + "Pick the slice-shaped bread up using the left arm and drop it in the skillet with black cooking surface.", + "Use the left arm to stick the bread loaf with square shape into the gray skillet for stovetop cooking.", + "Take the slice-shaped bread and set it into the metal skillet with comfortable grip", + "Use the left arm to grab the golden bread for the skillet with black cooking surface", + "Transfer the golden bread into the metal skillet with comfortable grip from the table", + "Grab the bread with firm crust edges and stick it in the black-surfaced skillet with gray sides.", + "Pick up the rectangular bread soft inside and place it in the metal skillet with comfortable grip.", + "Move the golden brown loaf-shaped bread to the flat-bottom skillet using the left arm", + "Take the bread with firm crust edges and place it inside the metal skillet with comfortable grip", + "Place the bread loaf with square shape into the medium-sized frying skillet with the left arm.", + "Use the left arm to pick the brown bread loaf up for the metal skillet", + "Pick the bread with golden surface color and set it into the skillet for frying food.", + "Grab the bread loaf with square shape from the table and set it in the gray skillet for stovetop cooking.", + "Take the golden crusted bread slice off the table into the metal skillet with comfortable grip", + "Grab the bread with firm crust edges and place it inside the smooth non-stick skillet.", + "Take the golden crusted bread slice and put it in the metal skillet.", + "Place the rectangular bread soft inside into the metal skillet using the left arm", + "Pick up the golden bread and put it in the medium-sized frying skillet", + "Use the left arm to pick the golden bread for the skillet for frying food", + "Use the left arm to move the brown bread loaf into the skillet for frying food", + "Use the left arm to lift the soft golden baked bread and place it into the round skillet with handle.", + "Place the bread with golden surface color from the table into the round skillet with open handle end", + "Move the brown bread loaf from table into the gray skillet for stovetop cooking", + "Use the left arm to set the rectangular bread soft inside into the smooth non-stick skillet.", + "Pick the bread loaf with square shape and transfer it to the metal skillet with comfortable grip", + "Grab the soft golden baked bread with the left arm and place in the gray skillet for stovetop cooking", + "Use the left arm to move the bread with golden surface color and set it into the flat-bottom skillet.", + "Lift the bread with firm crust edges using the left arm and move it to the skillet for frying food" + ], + "unseen": [ + "Pick the soft rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and place it in the versatile skillet for frying and sauteing", + "Move the bread loaf medium-sized to the dark skillet with shiny finish using the left arm.", + "Take the soft rectangular bread loaf and put it in the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and place it into the dark skillet with shiny finish.", + "Use the left arm to move the bread loaf medium-sized to the dark skillet with shiny finish.", + "Pick the soft rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it in the versatile skillet for frying and sauteing", + "Move the soft rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Take the small loaf-shaped bread and put it in the dark skillet with shiny finish", + "Use the left arm to grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Pick up the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and drop it into the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and place it into the dark skillet with shiny finish.", + "Use the left arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing.", + "Pick the bread loaf medium-sized up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and place it in the pan-shaped skillet with hole in handle", + "Move the small loaf-shaped bread to the versatile skillet for frying and sauteing using the left arm.", + "Take the soft rectangular bread loaf and put it in the dark skillet with shiny finish", + "Use the left arm to grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick up the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and drop it into the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing.", + "Pick the bread loaf medium-sized up and place it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it in the pan-shaped skillet with hole in handle", + "Move the soft rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Take the bread loaf medium-sized and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick up the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and drop it into the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and place it into the dark skillet with shiny finish.", + "Use the left arm to move the soft rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Pick the soft rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and place it in the pan-shaped skillet with hole in handle", + "Move the bread loaf medium-sized to the pan-shaped skillet with hole in handle using the left arm.", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Pick up the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and place it into the dark skillet with shiny finish.", + "Use the left arm to move the small loaf-shaped bread to the dark skillet with shiny finish.", + "Pick the small loaf-shaped bread up and place it in the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and place it in the dark skillet with shiny finish", + "Move the small loaf-shaped bread to the versatile skillet for frying and sauteing using the left arm.", + "Take the bread loaf medium-sized and put it in the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Pick up the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Pick the small loaf-shaped bread up and place it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it in the versatile skillet for frying and sauteing", + "Move the small loaf-shaped bread to the pan-shaped skillet with hole in handle using the left arm.", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Pick up the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it into the dark skillet with shiny finish.", + "Use the left arm to move the small loaf-shaped bread to the dark skillet with shiny finish.", + "Pick the small loaf-shaped bread up and place it in the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Move the bread loaf medium-sized to the pan-shaped skillet with hole in handle using the left arm.", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Pick up the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the small loaf-shaped bread to the dark skillet with shiny finish.", + "Pick the soft rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it in the dark skillet with shiny finish", + "Move the bread loaf medium-sized to the pan-shaped skillet with hole in handle using the left arm.", + "Take the soft rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Pick up the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing.", + "Pick the small loaf-shaped bread up and place it in the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Move the bread loaf medium-sized to the dark skillet with shiny finish using the left arm.", + "Take the bread loaf medium-sized and put it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Pick up the small loaf-shaped bread and drop it into the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Use the left arm to move the bread loaf medium-sized to the dark skillet with shiny finish." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode14.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..75e375ca784dd1c07f7a963e514cf9027977930f --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to move the bread with rounded edges into the black-surfaced skillet with gray sides", + "Grab the light brown porous bread and stick it in the medium-sized frying skillet.", + "Take the soft square bread off the table into the metal skillet with comfortable grip", + "Transfer the bread with rounded edges into the skillet for frying food from the table", + "Grab the medium bread with rounded sides and drop it into the smooth non-stick skillet", + "Move the square-shaped bread piece into the smooth non-stick skillet from the table", + "Pick the medium-sized bread piece and transfer it to the metal skillet", + "Put the golden baked bread into the dark gray skillet.", + "Use the right arm to pick the golden brown bread up for the skillet with black cooking surface", + "Pick the bread with soft texture off the table and place it in the medium-sized frying skillet.", + "Use the right arm to take the sponge-textured golden bread and move it into the medium-sized frying skillet.", + "Place the light brown porous bread into the metal skillet with the right arm.", + "Take the sponge-textured golden bread and place it inside the flat-bottom skillet", + "Grab the bread with rounded edges and place it inside the round skillet with handle.", + "Grab the bread with soft texture with the right arm and place in the skillet for frying food", + "Grab the medium-sized bread piece and place it inside the round skillet with handle", + "Grab the bread with rounded edges using the right arm and place it in the round skillet with handle", + "Take the medium-sized bread piece and place it inside the skillet with black cooking surface", + "Take the medium bread with rounded sides and set it into the round skillet with handle", + "Place the sponge-textured golden bread from the table into the medium-sized frying skillet", + "Use the right arm to pick the medium bread with rounded sides and place it into the metal skillet with comfortable grip.", + "Use the right arm to grab the bread with rounded edges and set it in the round skillet with handle.", + "Use the right arm to pick the medium-sized bread piece for the gray skillet for stovetop cooking", + "Use the right arm to pick the golden baked bread and put it in the medium-sized frying skillet", + "Use the right arm to move the bread with rounded edges and set it into the black-surfaced skillet with gray sides.", + "Place the square-shaped bread piece into the round skillet with open handle end using the right arm", + "Use the right arm to place the medium bread with rounded sides into the flat-bottom skillet", + "Use the right arm to stick the fluffy baked bread into the skillet for frying food.", + "Put the bread with soft texture into the smooth non-stick skillet after grabbing it", + "Pick the golden brown bread and set it into the metal skillet.", + "Use the right arm to lift the fluffy baked bread and place it into the metal skillet with comfortable grip.", + "Lift the bread with soft texture using the right arm and move it to the dark gray skillet", + "Lift the golden baked bread and drop it into the smooth non-stick skillet.", + "Set the soft square bread into the round skillet with handle after grabbing", + "Pick the fluffy baked bread with the right arm and set it in the flat-bottom skillet", + "Lift the soft square bread and drop it into the dark gray skillet", + "Take the medium-sized bread piece and put it in the metal skillet with comfortable grip.", + "Use the right arm to grab the golden baked bread for the metal skillet with comfortable grip", + "Grab the golden brown bread from the table and set it in the gray skillet for stovetop cooking.", + "Move the bread with rounded edges from table into the flat-bottom skillet", + "Use the right arm to grab the bread with soft texture for the skillet for frying food", + "Pick up the medium-sized bread piece with the right arm and drop it in the skillet with black cooking surface", + "Move the light brown porous bread to the round skillet with handle using the right arm", + "Pick the fluffy baked bread up using the right arm and drop it in the flat-bottom skillet.", + "Use the right arm to set the bread with soft texture into the skillet for frying food.", + "Take the fluffy baked bread and drop it into the round skillet with open handle end.", + "Take the golden brown bread and put it in the dark gray skillet.", + "Pick up the fluffy baked bread and place it in the flat-bottom skillet.", + "Pick up the rounded square loaf and put it in the skillet for frying food", + "Take the golden baked bread with the right arm and drop into the dark gray skillet", + "Use the right arm to move the medium-sized bread piece into the dark gray skillet", + "Grab the sponge-textured golden bread and stick it in the skillet for frying food.", + "Take the rounded square loaf off the table into the round skillet with handle", + "Transfer the sponge-textured golden bread into the skillet with black cooking surface from the table", + "Grab the fluffy baked bread and drop it into the gray skillet for stovetop cooking", + "Move the square-shaped bread piece into the dark gray skillet from the table", + "Pick the golden baked bread and transfer it to the skillet with black cooking surface", + "Put the light brown porous bread into the medium-sized frying skillet.", + "Use the right arm to pick the fluffy baked bread up for the flat-bottom skillet", + "Pick the golden baked bread off the table and place it in the gray skillet for stovetop cooking.", + "Use the right arm to take the sponge-textured golden bread and move it into the gray skillet for stovetop cooking.", + "Place the medium-sized bread piece into the skillet for frying food with the right arm.", + "Take the fluffy baked bread and place it inside the skillet for frying food", + "Grab the medium bread with rounded sides and place it inside the dark gray skillet.", + "Grab the rounded square loaf with the right arm and place in the medium-sized frying skillet", + "Grab the bread with rounded edges and place it inside the black-surfaced skillet with gray sides", + "Grab the golden brown bread using the right arm and place it in the metal skillet with comfortable grip", + "Take the light brown porous bread and place it inside the round skillet with open handle end", + "Take the soft square bread and set it into the skillet for frying food", + "Place the golden brown bread from the table into the flat-bottom skillet", + "Use the right arm to pick the bread with soft texture and place it into the skillet with black cooking surface.", + "Use the right arm to grab the bread with soft texture and set it in the metal skillet.", + "Use the right arm to pick the golden brown bread for the skillet for frying food", + "Use the right arm to pick the soft square bread and put it in the dark gray skillet", + "Use the right arm to move the golden baked bread and set it into the medium-sized frying skillet.", + "Place the soft square bread into the metal skillet using the right arm", + "Use the right arm to place the golden baked bread into the skillet with black cooking surface", + "Use the right arm to stick the medium-sized bread piece into the skillet with black cooking surface.", + "Put the golden baked bread into the flat-bottom skillet after grabbing it", + "Pick the golden baked bread and set it into the skillet with black cooking surface.", + "Use the right arm to lift the square-shaped bread piece and place it into the smooth non-stick skillet.", + "Lift the golden brown bread using the right arm and move it to the dark gray skillet", + "Lift the bread with rounded edges and drop it into the smooth non-stick skillet.", + "Set the golden brown bread into the black-surfaced skillet with gray sides after grabbing", + "Pick the sponge-textured golden bread with the right arm and set it in the gray skillet for stovetop cooking", + "Lift the medium bread with rounded sides and drop it into the metal skillet", + "Take the golden brown bread and put it in the skillet with black cooking surface.", + "Use the right arm to grab the rounded square loaf for the medium-sized frying skillet", + "Grab the bread with rounded edges from the table and set it in the gray skillet for stovetop cooking.", + "Move the square-shaped bread piece from table into the skillet with black cooking surface", + "Use the right arm to grab the rounded square loaf for the medium-sized frying skillet", + "Pick up the square-shaped bread piece with the right arm and drop it in the skillet for frying food", + "Move the rounded square loaf to the metal skillet with comfortable grip using the right arm", + "Pick the medium bread with rounded sides up using the right arm and drop it in the black-surfaced skillet with gray sides.", + "Use the right arm to set the sponge-textured golden bread into the gray skillet for stovetop cooking.", + "Take the bread with rounded edges and drop it into the round skillet with open handle end.", + "Take the bread with rounded edges and put it in the skillet with black cooking surface.", + "Pick up the medium-sized bread piece and place it in the skillet with black cooking surface.", + "Pick up the golden brown bread and put it in the skillet with black cooking surface", + "Take the bread with rounded edges with the right arm and drop into the black-surfaced skillet with gray sides" + ], + "unseen": [ + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Use the right arm to grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Move the soft bread with golden edges to the dark skillet with shiny finish using the right arm.", + "Use the right arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Use the right arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Move the soft bread with golden edges to the versatile skillet for frying and sauteing using the right arm.", + "Use the right arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Grab the square bread with light spots and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Move the square bread with light spots to the dark skillet with shiny finish using the right arm.", + "Use the right arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Pick up the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Use the right arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Take the spongy golden brown bread and put it in the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to move the spongy golden brown bread to the versatile skillet for frying and sauteing.", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Pick the square bread with light spots up and place it in the dark skillet with shiny finish", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Use the right arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the versatile skillet for frying and sauteing using the right arm.", + "Use the right arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Move the square bread with light spots to the dark skillet with shiny finish using the right arm.", + "Use the right arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Take the spongy golden brown bread and put it in the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the versatile skillet for frying and sauteing using the right arm.", + "Use the right arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Use the right arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Take the soft bread with golden edges and put it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the right arm.", + "Use the right arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Use the right arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Pick the square bread with light spots up and place it in the pan-shaped skillet with hole in handle", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Move the spongy golden brown bread to the versatile skillet for frying and sauteing using the right arm.", + "Use the right arm to move the square bread with light spots to the dark skillet with shiny finish." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode15.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..75de0994a495a6dd3f3a148c8d3cd4ad864faf0b --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the bread with split top and drop it into the round skillet with open handle end.", + "Use the right arm to pick the light brown bread with ridges and place it into the flat-bottom skillet.", + "Set the soft brown bread into the round skillet with handle after grabbing", + "Pick the light brown loaf with smooth sides with the right arm and set it in the smooth non-stick skillet", + "Put the small loaf with curved top into the metal skillet.", + "Pick up the bread with warm golden color and place it in the smooth non-stick skillet.", + "Transfer the golden bread loaf into the round skillet with open handle end from the table", + "Use the right arm to take the light brown loaf with smooth sides and move it into the gray skillet for stovetop cooking.", + "Put the bread with split top into the round skillet with open handle end after grabbing it", + "Use the right arm to stick the hand-sized oval loaf into the skillet for frying food.", + "Use the right arm to set the light brown loaf with smooth sides into the skillet for frying food.", + "Take the light brown bread with ridges with the right arm and drop into the round skillet with handle", + "Use the right arm to grab the hand-sized oval loaf for the dark gray skillet", + "Grab the bread with split top and stick it in the skillet with black cooking surface.", + "Place the bread with warm golden color from the table into the black-surfaced skillet with gray sides", + "Take the bread with golden-brown crust off the table into the metal skillet with comfortable grip", + "Pick up the soft brown bread with the right arm and drop it in the medium-sized frying skillet", + "Move the bread with golden-brown crust from table into the flat-bottom skillet", + "Use the right arm to move the golden bread loaf and set it into the round skillet with open handle end.", + "Place the golden bread loaf into the flat-bottom skillet with the right arm.", + "Take the bread with warm golden color and place it inside the dark gray skillet", + "Use the right arm to grab the hand-sized oval loaf for the skillet for frying food", + "Use the right arm to pick the soft brown bread up for the flat-bottom skillet", + "Grab the bread with split top with the right arm and place in the skillet for frying food", + "Take the brown loaf and drop it into the flat-bottom skillet.", + "Grab the bread with golden-brown crust and drop it into the round skillet with handle", + "Use the right arm to pick the bread with split top for the round skillet with handle", + "Move the soft brown bread into the round skillet with handle from the table", + "Grab the soft brown bread using the right arm and place it in the skillet for frying food", + "Take the smooth loaf with rounded edges and set it into the metal skillet with comfortable grip", + "Use the right arm to place the brown loaf into the round skillet with handle", + "Use the right arm to move the light brown bread with ridges into the skillet for frying food", + "Use the right arm to pick the hand-sized oval loaf and put it in the smooth non-stick skillet", + "Pick the light brown loaf with smooth sides and set it into the metal skillet.", + "Place the small loaf with curved top into the skillet with black cooking surface using the right arm", + "Lift the smooth loaf with rounded edges using the right arm and move it to the flat-bottom skillet", + "Lift the bread with split top and drop it into the round skillet with handle", + "Move the golden bread loaf to the round skillet with handle using the right arm", + "Take the golden bread loaf and place it inside the gray skillet for stovetop cooking", + "Grab the light brown bread with ridges from the table and set it in the round skillet with handle.", + "Grab the golden bread loaf and place it inside the metal skillet", + "Pick up the brown loaf and put it in the metal skillet", + "Use the right arm to lift the smooth loaf with rounded edges and place it into the skillet for frying food.", + "Pick the soft brown bread off the table and place it in the metal skillet.", + "Take the hand-sized oval loaf and put it in the skillet for frying food.", + "Pick the bread with golden-brown crust and transfer it to the gray skillet for stovetop cooking", + "Take the bread with warm golden color and put it in the skillet for frying food.", + "Pick the light brown loaf with smooth sides up using the right arm and drop it in the gray skillet for stovetop cooking.", + "Use the right arm to grab the light brown bread with ridges and set it in the dark gray skillet.", + "Grab the small golden brown bread and place it inside the metal skillet with comfortable grip.", + "Lift the bread with split top and drop it into the round skillet with handle.", + "Use the right arm to pick the golden bread loaf and place it into the flat-bottom skillet.", + "Set the smooth loaf with rounded edges into the smooth non-stick skillet after grabbing", + "Pick the light brown loaf with smooth sides with the right arm and set it in the round skillet with handle", + "Put the smooth loaf with rounded edges into the gray skillet for stovetop cooking.", + "Pick up the bread with golden-brown crust and place it in the flat-bottom skillet.", + "Transfer the small loaf with curved top into the medium-sized frying skillet from the table", + "Use the right arm to take the bread with split top and move it into the medium-sized frying skillet.", + "Put the small golden brown bread into the dark gray skillet after grabbing it", + "Use the right arm to stick the bread with golden-brown crust into the round skillet with handle.", + "Use the right arm to set the golden bread loaf into the round skillet with open handle end.", + "Take the bread with split top with the right arm and drop into the round skillet with open handle end", + "Use the right arm to grab the bread with split top for the medium-sized frying skillet", + "Grab the small golden brown bread and stick it in the flat-bottom skillet.", + "Place the hand-sized oval loaf from the table into the round skillet with open handle end", + "Take the hand-sized oval loaf off the table into the metal skillet", + "Pick up the brown loaf with the right arm and drop it in the round skillet with handle", + "Move the brown loaf from table into the black-surfaced skillet with gray sides", + "Use the right arm to move the light brown bread with ridges and set it into the dark gray skillet.", + "Place the small loaf with curved top into the smooth non-stick skillet with the right arm.", + "Take the soft brown bread and place it inside the round skillet with handle", + "Use the right arm to grab the hand-sized oval loaf for the medium-sized frying skillet", + "Use the right arm to pick the light brown bread with ridges up for the gray skillet for stovetop cooking", + "Grab the brown loaf with the right arm and place in the black-surfaced skillet with gray sides", + "Take the small golden brown bread and drop it into the skillet for frying food.", + "Grab the smooth loaf with rounded edges and drop it into the black-surfaced skillet with gray sides", + "Use the right arm to pick the golden bread loaf for the gray skillet for stovetop cooking", + "Move the light brown bread with ridges into the skillet with black cooking surface from the table", + "Grab the light brown bread with ridges using the right arm and place it in the flat-bottom skillet", + "Take the golden bread loaf and set it into the skillet for frying food", + "Use the right arm to place the light brown bread with ridges into the flat-bottom skillet", + "Use the right arm to move the bread with split top into the metal skillet with comfortable grip", + "Use the right arm to pick the bread with golden-brown crust and put it in the smooth non-stick skillet", + "Pick the golden bread loaf and set it into the black-surfaced skillet with gray sides.", + "Place the light brown loaf with smooth sides into the skillet for frying food using the right arm", + "Lift the hand-sized oval loaf using the right arm and move it to the metal skillet with comfortable grip", + "Lift the golden bread loaf and drop it into the smooth non-stick skillet", + "Move the small loaf with curved top to the metal skillet using the right arm", + "Take the bread with split top and place it inside the dark gray skillet", + "Grab the hand-sized oval loaf from the table and set it in the skillet for frying food.", + "Grab the bread with warm golden color and place it inside the metal skillet with comfortable grip", + "Pick up the hand-sized oval loaf and put it in the black-surfaced skillet with gray sides", + "Use the right arm to lift the small loaf with curved top and place it into the black-surfaced skillet with gray sides.", + "Pick the bread with warm golden color off the table and place it in the round skillet with open handle end.", + "Take the bread with split top and put it in the skillet with black cooking surface.", + "Pick the small golden brown bread and transfer it to the skillet for frying food", + "Take the soft brown bread and put it in the black-surfaced skillet with gray sides.", + "Pick the soft brown bread up using the right arm and drop it in the skillet for frying food.", + "Use the right arm to grab the small golden brown bread and set it in the skillet with black cooking surface.", + "Grab the brown loaf and place it inside the dark gray skillet." + ], + "unseen": [ + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Move the oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Take the oval bread and put it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Move the oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Use the right arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Use the right arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Use the right arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Take the oval-shaped soft bread and put it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Take the oval-shaped soft bread and put it in the dark skillet with shiny finish", + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Take the oval-shaped soft bread and put it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Move the rounded oval bread to the dark skillet with shiny finish using the right arm.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Take the oval-shaped soft bread and put it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Use the right arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Take the oval bread and put it in the versatile skillet for frying and sauteing" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode16.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..13a462e5193597b9a22cc891ac3bd6b627fde79d --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the round bread with braided top with the left arm and drop into the skillet with black cooking surface", + "Place the soft doughy bread into the black-surfaced skillet with gray sides with the left arm.", + "Use the left arm to pick the round bread with braided top up for the skillet for frying food", + "Pick up the soft doughy bread and place it in the flat-bottom skillet.", + "Use the left arm to grab the small bread and set it in the skillet with black cooking surface.", + "Transfer the round bread with braided top into the gray skillet for stovetop cooking from the table", + "Lift the small golden baked bread using the left arm and move it to the round skillet with open handle end", + "Put the soft golden bread into the metal skillet with comfortable grip.", + "Use the left arm to lift the small golden baked bread and place it into the medium-sized frying skillet.", + "Move the golden brown bread to the metal skillet with comfortable grip using the left arm", + "Grab the bread with golden crust with the left arm and place in the round skillet with handle", + "Grab the golden brown bread with braided design and stick it in the skillet for frying food.", + "Use the left arm to pick the small golden baked bread and put it in the skillet with black cooking surface", + "Grab the bread with golden crust and place it inside the gray skillet for stovetop cooking", + "Pick the golden brown bread with the left arm and set it in the smooth non-stick skillet", + "Move the braided bread loaf from table into the metal skillet", + "Pick up the braided bread loaf and put it in the gray skillet for stovetop cooking", + "Take the smooth crusty small bread and set it into the dark gray skillet", + "Place the soft doughy bread from the table into the round skillet with handle", + "Use the left arm to move the smooth crusty small bread and set it into the gray skillet for stovetop cooking.", + "Pick the small golden baked bread off the table and place it in the round skillet with handle.", + "Use the left arm to pick the smooth crusty small bread for the flat-bottom skillet", + "Use the left arm to take the smooth crusty small bread and move it into the metal skillet with comfortable grip.", + "Pick the bread with golden crust up using the left arm and drop it in the gray skillet for stovetop cooking.", + "Take the soft golden bread and place it inside the gray skillet for stovetop cooking", + "Use the left arm to grab the braided bread loaf for the dark gray skillet", + "Take the small bread off the table into the dark gray skillet", + "Use the left arm to stick the golden brown bread into the skillet with black cooking surface.", + "Use the left arm to place the small bread into the black-surfaced skillet with gray sides", + "Grab the golden brown bread with braided design and place it inside the black-surfaced skillet with gray sides.", + "Take the golden bread loaf with soft inside and drop it into the black-surfaced skillet with gray sides.", + "Take the golden brown bread and put it in the metal skillet with comfortable grip.", + "Pick the braided bread loaf and transfer it to the flat-bottom skillet", + "Place the small golden baked bread into the flat-bottom skillet using the left arm", + "Use the left arm to set the soft doughy bread into the flat-bottom skillet.", + "Take the smooth crusty small bread and place it inside the gray skillet for stovetop cooking", + "Use the left arm to grab the braided bread loaf for the dark gray skillet", + "Lift the soft golden bread and drop it into the flat-bottom skillet.", + "Use the left arm to pick the soft doughy bread and place it into the skillet with black cooking surface.", + "Use the left arm to move the small bread into the round skillet with handle", + "Pick the golden brown bread with braided design and set it into the skillet for frying food.", + "Put the golden bread loaf with soft inside into the round skillet with open handle end after grabbing it", + "Lift the golden brown bread with braided design and drop it into the gray skillet for stovetop cooking", + "Set the golden brown bread with braided design into the metal skillet with comfortable grip after grabbing", + "Grab the round bread with braided top from the table and set it in the skillet for frying food.", + "Take the golden bread loaf with soft inside and put it in the round skillet with open handle end.", + "Grab the braided bread loaf using the left arm and place it in the metal skillet with comfortable grip", + "Move the smooth crusty small bread into the skillet for frying food from the table", + "Grab the soft doughy bread and drop it into the skillet with black cooking surface", + "Pick up the round bread with crusty texture with the left arm and drop it in the skillet for frying food", + "Take the golden bread loaf with soft inside with the left arm and drop into the skillet with black cooking surface", + "Place the round bread with crusty texture into the round skillet with open handle end with the left arm.", + "Use the left arm to pick the small bread up for the skillet with black cooking surface", + "Pick up the smooth crusty small bread and place it in the skillet for frying food.", + "Use the left arm to grab the golden brown bread and set it in the smooth non-stick skillet.", + "Transfer the bread with golden crust into the metal skillet with comfortable grip from the table", + "Lift the golden brown bread with braided design using the left arm and move it to the medium-sized frying skillet", + "Put the golden bread loaf with soft inside into the skillet for frying food.", + "Use the left arm to lift the round bread with crusty texture and place it into the smooth non-stick skillet.", + "Move the soft doughy bread to the skillet with black cooking surface using the left arm", + "Grab the soft golden bread with the left arm and place in the skillet for frying food", + "Grab the small golden baked bread and stick it in the flat-bottom skillet.", + "Use the left arm to pick the golden bread loaf with soft inside and put it in the gray skillet for stovetop cooking", + "Grab the soft golden bread and place it inside the flat-bottom skillet", + "Pick the small bread with the left arm and set it in the round skillet with open handle end", + "Move the round bread with braided top from table into the gray skillet for stovetop cooking", + "Pick up the braided bread loaf and put it in the metal skillet with comfortable grip", + "Take the golden bread loaf with soft inside and set it into the round skillet with handle", + "Place the soft golden bread from the table into the skillet for frying food", + "Use the left arm to move the small bread and set it into the skillet with black cooking surface.", + "Pick the soft golden bread off the table and place it in the skillet with black cooking surface.", + "Use the left arm to pick the small bread for the smooth non-stick skillet", + "Use the left arm to take the soft golden bread and move it into the medium-sized frying skillet.", + "Pick the braided bread loaf up using the left arm and drop it in the skillet for frying food.", + "Take the bread with golden crust and place it inside the black-surfaced skillet with gray sides", + "Use the left arm to grab the soft golden bread for the skillet with black cooking surface", + "Take the golden brown bread off the table into the flat-bottom skillet", + "Use the left arm to stick the round bread with crusty texture into the smooth non-stick skillet.", + "Use the left arm to place the small golden baked bread into the skillet for frying food", + "Grab the soft doughy bread and place it inside the dark gray skillet.", + "Take the golden brown bread and drop it into the round skillet with handle.", + "Take the smooth crusty small bread and put it in the skillet for frying food.", + "Pick the small golden baked bread and transfer it to the flat-bottom skillet", + "Place the small bread into the skillet for frying food using the left arm", + "Use the left arm to set the small golden baked bread into the dark gray skillet.", + "Take the small bread and place it inside the gray skillet for stovetop cooking", + "Use the left arm to grab the smooth crusty small bread for the dark gray skillet", + "Lift the small golden baked bread and drop it into the round skillet with handle.", + "Use the left arm to pick the braided bread loaf and place it into the smooth non-stick skillet.", + "Use the left arm to move the small bread into the round skillet with handle", + "Pick the soft doughy bread and set it into the black-surfaced skillet with gray sides.", + "Put the round bread with crusty texture into the medium-sized frying skillet after grabbing it", + "Lift the golden brown bread with braided design and drop it into the skillet for frying food", + "Set the soft doughy bread into the round skillet with handle after grabbing", + "Grab the bread with golden crust from the table and set it in the skillet with black cooking surface.", + "Take the golden bread loaf with soft inside and put it in the black-surfaced skillet with gray sides.", + "Grab the round bread with crusty texture using the left arm and place it in the gray skillet for stovetop cooking", + "Move the soft doughy bread into the metal skillet from the table", + "Grab the small golden baked bread and drop it into the skillet with black cooking surface", + "Pick up the small golden baked bread with the left arm and drop it in the skillet for frying food" + ], + "unseen": [ + "Grab the braided top round bread and place it into the dark skillet with shiny finish.", + "Take the round braided loaf and put it in the dark skillet with shiny finish", + "Use the left arm to move the braided top round bread to the dark skillet with shiny finish.", + "Grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the braided top round bread and set it in the dark skillet with shiny finish", + "Grab the braided top round bread and place it in the versatile skillet for frying and sauteing", + "Move the round braided loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the braided top round bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing.", + "Pick up the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it into the versatile skillet for frying and sauteing.", + "Take the palm-sized braided golden bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the palm-sized braided golden bread to the dark skillet with shiny finish.", + "Grab the palm-sized braided golden bread and set it in the dark skillet with shiny finish", + "Use the left arm to grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and place it in the dark skillet with shiny finish", + "Move the round braided loaf to the dark skillet with shiny finish using the left arm.", + "Pick the round braided loaf up and place it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and drop it into the versatile skillet for frying and sauteing.", + "Pick up the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and place it into the pan-shaped skillet with hole in handle.", + "Take the palm-sized braided golden bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the round braided loaf to the dark skillet with shiny finish.", + "Grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and place it in the pan-shaped skillet with hole in handle", + "Move the round braided loaf to the versatile skillet for frying and sauteing using the left arm.", + "Pick the round braided loaf up and place it in the dark skillet with shiny finish", + "Grab the braided top round bread and drop it into the versatile skillet for frying and sauteing.", + "Pick up the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and place it into the pan-shaped skillet with hole in handle.", + "Take the round braided loaf and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the braided top round bread to the dark skillet with shiny finish.", + "Grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and place it in the dark skillet with shiny finish", + "Move the round braided loaf to the versatile skillet for frying and sauteing using the left arm.", + "Pick the palm-sized braided golden bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and drop it into the pan-shaped skillet with hole in handle.", + "Pick up the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing", + "Grab the round braided loaf and place it into the versatile skillet for frying and sauteing.", + "Take the palm-sized braided golden bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the braided top round bread to the versatile skillet for frying and sauteing.", + "Grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it in the pan-shaped skillet with hole in handle", + "Move the braided top round bread to the versatile skillet for frying and sauteing using the left arm.", + "Pick the braided top round bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and drop it into the versatile skillet for frying and sauteing.", + "Pick up the braided top round bread and drop it into the versatile skillet for frying and sauteing", + "Grab the braided top round bread and place it into the versatile skillet for frying and sauteing.", + "Take the round braided loaf and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the round braided loaf to the dark skillet with shiny finish.", + "Grab the braided top round bread and set it in the dark skillet with shiny finish", + "Use the left arm to grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it in the pan-shaped skillet with hole in handle", + "Move the round braided loaf to the versatile skillet for frying and sauteing using the left arm.", + "Pick the palm-sized braided golden bread up and place it in the versatile skillet for frying and sauteing", + "Grab the braided top round bread and drop it into the dark skillet with shiny finish.", + "Pick up the round braided loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and place it into the versatile skillet for frying and sauteing.", + "Take the braided top round bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the braided top round bread to the versatile skillet for frying and sauteing.", + "Grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the round braided loaf and set it in the dark skillet with shiny finish", + "Grab the round braided loaf and place it in the dark skillet with shiny finish", + "Move the round braided loaf to the dark skillet with shiny finish using the left arm.", + "Pick the round braided loaf up and place it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and drop it into the dark skillet with shiny finish.", + "Pick up the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing", + "Grab the round braided loaf and place it into the dark skillet with shiny finish.", + "Take the braided top round bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the palm-sized braided golden bread to the dark skillet with shiny finish.", + "Grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the round braided loaf and set it in the dark skillet with shiny finish", + "Grab the braided top round bread and place it in the pan-shaped skillet with hole in handle", + "Move the braided top round bread to the versatile skillet for frying and sauteing using the left arm.", + "Pick the braided top round bread up and place it in the dark skillet with shiny finish", + "Grab the round braided loaf and drop it into the pan-shaped skillet with hole in handle.", + "Pick up the braided top round bread and drop it into the versatile skillet for frying and sauteing", + "Grab the round braided loaf and place it into the versatile skillet for frying and sauteing.", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the palm-sized braided golden bread to the dark skillet with shiny finish.", + "Grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it in the pan-shaped skillet with hole in handle", + "Move the braided top round bread to the versatile skillet for frying and sauteing using the left arm.", + "Pick the round braided loaf up and place it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and drop it into the pan-shaped skillet with hole in handle.", + "Pick up the round braided loaf and drop it into the dark skillet with shiny finish", + "Grab the round braided loaf and place it into the dark skillet with shiny finish.", + "Take the palm-sized braided golden bread and put it in the dark skillet with shiny finish", + "Use the left arm to move the braided top round bread to the pan-shaped skillet with hole in handle.", + "Grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and place it in the pan-shaped skillet with hole in handle", + "Move the palm-sized braided golden bread to the dark skillet with shiny finish using the left arm.", + "Pick the braided top round bread up and place it in the versatile skillet for frying and sauteing", + "Grab the round braided loaf and drop it into the dark skillet with shiny finish.", + "Pick up the braided top round bread and drop it into the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode17.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..9f710ba119854a7c629eee5071ee501c22bf6018 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to take the light brown bread with ridges and move it into the hefty black skillet.", + "Take the bread with warm golden color and drop it into the medium round cast iron skillet.", + "Take the bread with golden-brown crust and place it inside the smooth cast iron skillet", + "Grab the small loaf with curved top with the left arm and place in the skillet for cooking", + "Use the left arm to pick the bread with warm golden color and place it into the rounded skillet with a holey handle.", + "Pick the brown loaf and set it into the gray pan.", + "Pick the small loaf with curved top up using the left arm and drop it in the gray pan.", + "Pick the brown loaf with the left arm and set it in the medium round cast iron skillet", + "Lift the small loaf with curved top using the left arm and move it to the pan with dark finish", + "Set the soft brown bread into the round skillet with handle after grabbing", + "Move the bread with split top from table into the gray cooking pan with handle", + "Use the left arm to grab the small golden brown bread for the dark gray skillet", + "Pick up the hand-sized oval loaf and place it in the smooth cast iron skillet.", + "Pick the bread with golden-brown crust and transfer it to the rounded skillet with a holey handle", + "Grab the smooth loaf with rounded edges and stick it in the pan with dark finish.", + "Place the bread with golden-brown crust into the hefty black skillet using the left arm", + "Use the left arm to lift the smooth loaf with rounded edges and place it into the gray cooking pan with handle.", + "Use the left arm to grab the light brown loaf with smooth sides for the round skillet with handle", + "Take the bread with golden-brown crust with the left arm and drop into the pan with dark finish", + "Pick the bread with golden-brown crust off the table and place it in the rounded skillet with a holey handle.", + "Use the left arm to pick the bread with warm golden color for the smooth round cooking skillet", + "Use the left arm to set the bread with warm golden color into the pan with dark finish.", + "Use the left arm to move the light brown bread with ridges into the round skillet with handle", + "Take the hand-sized oval loaf and set it into the gray cooking pan with handle", + "Use the left arm to pick the smooth loaf with rounded edges and put it in the hefty black skillet", + "Use the left arm to pick the golden bread loaf up for the smooth round cooking skillet", + "Grab the light brown loaf with smooth sides from the table and set it in the gray cooking pan with handle.", + "Move the light brown loaf with smooth sides into the rounded skillet with a holey handle from the table", + "Move the smooth loaf with rounded edges to the skillet for cooking using the left arm", + "Put the bread with golden-brown crust into the rounded skillet with a holey handle after grabbing it", + "Use the left arm to place the bread with split top into the gray cooking pan with handle", + "Pick up the hand-sized oval loaf with the left arm and drop it in the smooth cast iron skillet", + "Use the left arm to stick the golden bread loaf into the smooth round cooking skillet.", + "Take the bread with warm golden color and place it inside the round skillet with handle", + "Grab the golden bread loaf and place it inside the rounded skillet with a holey handle", + "Grab the golden bread loaf and place it inside the round skillet with handle.", + "Take the bread with golden-brown crust off the table into the gray pan", + "Grab the hand-sized oval loaf and drop it into the medium skillet", + "Take the bread with split top and put it in the medium skillet.", + "Use the left arm to grab the light brown loaf with smooth sides and set it in the skillet for cooking.", + "Take the bread with golden-brown crust and put it in the round skillet with handle.", + "Transfer the bread with split top into the pan with dark finish from the table", + "Pick up the bread with golden-brown crust and put it in the dark gray skillet", + "Use the left arm to move the soft brown bread and set it into the round skillet with handle.", + "Lift the bread with split top and drop it into the round skillet with handle", + "Place the brown loaf from the table into the smooth cast iron skillet", + "Lift the golden bread loaf and drop it into the hefty black skillet.", + "Put the small loaf with curved top into the smooth round cooking skillet.", + "Place the bread with warm golden color into the skillet for cooking with the left arm.", + "Grab the smooth loaf with rounded edges using the left arm and place it in the dark gray skillet", + "Use the left arm to take the soft brown bread and move it into the gray cooking pan with handle.", + "Take the bread with golden-brown crust and drop it into the gray pan.", + "Take the light brown bread with ridges and place it inside the skillet for cooking", + "Grab the hand-sized oval loaf with the left arm and place in the gray cooking pan with handle", + "Use the left arm to pick the bread with split top and place it into the gray cooking pan with handle.", + "Pick the hand-sized oval loaf and set it into the medium round cast iron skillet.", + "Pick the bread with split top up using the left arm and drop it in the pan with dark finish.", + "Pick the bread with warm golden color with the left arm and set it in the skillet for cooking", + "Lift the bread with split top using the left arm and move it to the rounded skillet with a holey handle", + "Set the light brown loaf with smooth sides into the medium skillet after grabbing", + "Move the brown loaf from table into the hefty black skillet", + "Use the left arm to grab the brown loaf for the round skillet with handle", + "Pick up the golden bread loaf and place it in the gray pan.", + "Pick the golden bread loaf and transfer it to the rounded skillet with a holey handle", + "Grab the small loaf with curved top and stick it in the gray pan.", + "Place the light brown loaf with smooth sides into the medium round cast iron skillet using the left arm", + "Use the left arm to lift the small golden brown bread and place it into the smooth cast iron skillet.", + "Use the left arm to grab the brown loaf for the dark gray skillet", + "Take the light brown bread with ridges with the left arm and drop into the medium round cast iron skillet", + "Pick the light brown loaf with smooth sides off the table and place it in the medium skillet.", + "Use the left arm to pick the soft brown bread for the pan with dark finish", + "Use the left arm to set the small golden brown bread into the dark gray skillet.", + "Use the left arm to move the bread with warm golden color into the medium skillet", + "Take the smooth loaf with rounded edges and set it into the medium skillet", + "Use the left arm to pick the light brown bread with ridges and put it in the medium round cast iron skillet", + "Use the left arm to pick the light brown bread with ridges up for the medium skillet", + "Grab the smooth loaf with rounded edges from the table and set it in the gray pan.", + "Move the bread with split top into the smooth round cooking skillet from the table", + "Move the brown loaf to the gray cooking pan with handle using the left arm", + "Put the light brown bread with ridges into the gray cooking pan with handle after grabbing it", + "Use the left arm to place the bread with warm golden color into the round skillet with handle", + "Pick up the hand-sized oval loaf with the left arm and drop it in the medium round cast iron skillet", + "Use the left arm to stick the soft brown bread into the rounded skillet with a holey handle.", + "Take the smooth loaf with rounded edges and place it inside the pan with dark finish", + "Grab the bread with warm golden color and place it inside the pan with dark finish", + "Grab the small golden brown bread and place it inside the skillet for cooking.", + "Take the bread with golden-brown crust off the table into the gray cooking pan with handle", + "Grab the light brown bread with ridges and drop it into the round skillet with handle", + "Take the smooth loaf with rounded edges and put it in the round skillet with handle.", + "Use the left arm to grab the brown loaf and set it in the gray cooking pan with handle.", + "Take the brown loaf and put it in the smooth cast iron skillet.", + "Transfer the smooth loaf with rounded edges into the medium skillet from the table", + "Pick up the light brown loaf with smooth sides and put it in the round skillet with handle", + "Use the left arm to move the small golden brown bread and set it into the pan with dark finish.", + "Lift the bread with golden-brown crust and drop it into the pan with dark finish", + "Place the golden bread loaf from the table into the medium round cast iron skillet", + "Lift the bread with split top and drop it into the gray cooking pan with handle.", + "Put the brown loaf into the gray pan.", + "Place the light brown bread with ridges into the gray pan with the left arm.", + "Grab the bread with split top using the left arm and place it in the medium round cast iron skillet" + ], + "unseen": [ + "Grab the oval-shaped soft bread and place it into the cooking skillet with grippy handle.", + "Grab the oval bread and set it in the dark gray round cast iron pan", + "Use the left arm to grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Move the oval-shaped soft bread to the dark gray round cast iron pan using the left arm.", + "Use the left arm to move the rounded oval bread to the blackish-gray cast iron skillet.", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Take the oval bread and put it in the cooking skillet with grippy handle", + "Grab the oval bread and drop it into the cooking skillet with grippy handle.", + "Pick up the oval-shaped soft bread and drop it into the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and place it in the cooking skillet with grippy handle", + "Grab the oval bread and place it into the dark gray round cast iron pan.", + "Grab the oval bread and set it in the dark gray round cast iron pan", + "Use the left arm to grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Move the oval-shaped soft bread to the cooking skillet with grippy handle using the left arm.", + "Use the left arm to move the oval bread to the blackish-gray cast iron skillet.", + "Pick the oval-shaped soft bread up and place it in the dark gray round cast iron pan", + "Take the oval-shaped soft bread and put it in the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and drop it into the cooking skillet with grippy handle.", + "Pick up the oval-shaped soft bread and drop it into the cooking skillet with grippy handle", + "Grab the oval bread and place it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and place it into the blackish-gray cast iron skillet.", + "Grab the oval-shaped soft bread and set it in the dark gray round cast iron pan", + "Use the left arm to grab the oval bread and set it in the cooking skillet with grippy handle", + "Move the oval bread to the blackish-gray cast iron skillet using the left arm.", + "Use the left arm to move the rounded oval bread to the blackish-gray cast iron skillet.", + "Pick the rounded oval bread up and place it in the cooking skillet with grippy handle", + "Take the oval-shaped soft bread and put it in the dark gray round cast iron pan", + "Grab the rounded oval bread and drop it into the dark gray round cast iron pan.", + "Pick up the oval bread and drop it into the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and place it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it into the dark gray round cast iron pan.", + "Grab the oval bread and set it in the cooking skillet with grippy handle", + "Use the left arm to grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Move the rounded oval bread to the dark gray round cast iron pan using the left arm.", + "Use the left arm to move the oval bread to the cooking skillet with grippy handle.", + "Pick the rounded oval bread up and place it in the dark gray round cast iron pan", + "Take the oval bread and put it in the dark gray round cast iron pan", + "Grab the oval bread and drop it into the blackish-gray cast iron skillet.", + "Pick up the rounded oval bread and drop it into the dark gray round cast iron pan", + "Grab the oval bread and place it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and place it into the blackish-gray cast iron skillet.", + "Grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Use the left arm to grab the oval bread and set it in the dark gray round cast iron pan", + "Move the oval bread to the blackish-gray cast iron skillet using the left arm.", + "Use the left arm to move the oval bread to the cooking skillet with grippy handle.", + "Pick the rounded oval bread up and place it in the dark gray round cast iron pan", + "Take the oval bread and put it in the dark gray round cast iron pan", + "Grab the oval bread and drop it into the dark gray round cast iron pan.", + "Pick up the rounded oval bread and drop it into the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and place it into the dark gray round cast iron pan.", + "Grab the oval-shaped soft bread and set it in the dark gray round cast iron pan", + "Use the left arm to grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Move the oval bread to the dark gray round cast iron pan using the left arm.", + "Use the left arm to move the oval-shaped soft bread to the dark gray round cast iron pan.", + "Pick the oval-shaped soft bread up and place it in the cooking skillet with grippy handle", + "Take the oval-shaped soft bread and put it in the cooking skillet with grippy handle", + "Grab the oval bread and drop it into the cooking skillet with grippy handle.", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and place it in the dark gray round cast iron pan", + "Grab the oval bread and place it into the cooking skillet with grippy handle.", + "Grab the oval-shaped soft bread and set it in the dark gray round cast iron pan", + "Use the left arm to grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Move the rounded oval bread to the dark gray round cast iron pan using the left arm.", + "Use the left arm to move the oval bread to the dark gray round cast iron pan.", + "Pick the oval bread up and place it in the blackish-gray cast iron skillet", + "Take the oval-shaped soft bread and put it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and drop it into the cooking skillet with grippy handle.", + "Pick up the rounded oval bread and drop it into the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it into the dark gray round cast iron pan.", + "Grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Use the left arm to grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Move the rounded oval bread to the blackish-gray cast iron skillet using the left arm.", + "Use the left arm to move the rounded oval bread to the blackish-gray cast iron skillet.", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Take the oval bread and put it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet.", + "Pick up the oval bread and drop it into the cooking skillet with grippy handle", + "Grab the rounded oval bread and place it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and place it into the blackish-gray cast iron skillet.", + "Grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Use the left arm to grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Move the oval-shaped soft bread to the cooking skillet with grippy handle using the left arm.", + "Use the left arm to move the oval bread to the blackish-gray cast iron skillet.", + "Pick the rounded oval bread up and place it in the blackish-gray cast iron skillet", + "Take the oval-shaped soft bread and put it in the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and drop it into the dark gray round cast iron pan.", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it in the dark gray round cast iron pan", + "Grab the rounded oval bread and place it into the blackish-gray cast iron skillet.", + "Grab the oval bread and set it in the cooking skillet with grippy handle", + "Use the left arm to grab the oval-shaped soft bread and set it in the dark gray round cast iron pan", + "Move the oval bread to the dark gray round cast iron pan using the left arm.", + "Use the left arm to move the oval-shaped soft bread to the blackish-gray cast iron skillet.", + "Pick the rounded oval bread up and place it in the cooking skillet with grippy handle", + "Take the oval-shaped soft bread and put it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and drop it into the dark gray round cast iron pan.", + "Pick up the oval-shaped soft bread and drop it into the cooking skillet with grippy handle", + "Grab the oval bread and place it in the cooking skillet with grippy handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode18.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..a086131de2c43f4ac71284679dc76bfde3c16463 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to move the doughy and soft bread and set it into the medium-sized frying skillet.", + "Use the left arm to stick the square-shaped bread into the skillet for frying food.", + "Use the left arm to pick the bread loaf with bumpy surface up for the metal skillet with comfortable grip", + "Move the doughy and soft bread to the smooth non-stick skillet using the left arm", + "Grab the bread loaf with uneven edges from the table and set it in the smooth non-stick skillet.", + "Pick the square-shaped bread with the left arm and set it in the skillet with black cooking surface", + "Move the bread with rough texture from table into the dark gray skillet", + "Put the square-shaped bread into the round skillet with open handle end.", + "Pick up the light golden brown bread and place it in the medium-sized frying skillet.", + "Use the left arm to grab the golden bread loaf for the skillet with black cooking surface", + "Pick the bread loaf with bumpy surface up using the left arm and drop it in the round skillet with handle.", + "Use the left arm to grab the bread with rough texture for the metal skillet with comfortable grip", + "Take the bread loaf with bumpy surface and place it inside the metal skillet", + "Set the bread loaf with bumpy surface into the gray skillet for stovetop cooking after grabbing", + "Use the left arm to pick the golden bread and place it into the medium-sized frying skillet.", + "Lift the bread with rough texture and drop it into the smooth non-stick skillet.", + "Use the left arm to lift the bread loaf with bumpy surface and place it into the round skillet with handle.", + "Place the doughy and soft bread from the table into the dark gray skillet", + "Grab the doughy and soft bread and place it inside the metal skillet with comfortable grip", + "Take the square-shaped bread with the left arm and drop into the metal skillet", + "Use the left arm to set the light golden brown bread into the skillet for frying food.", + "Use the left arm to move the bread block with light patches into the flat-bottom skillet", + "Grab the cuboid bread and place it inside the flat-bottom skillet.", + "Use the left arm to place the golden bread into the round skillet with open handle end", + "Pick the bread with rough texture and transfer it to the metal skillet with comfortable grip", + "Move the bread loaf with bumpy surface into the dark gray skillet from the table", + "Take the golden bread loaf and drop it into the dark gray skillet.", + "Grab the golden bread loaf using the left arm and place it in the metal skillet", + "Use the left arm to take the bread loaf with bumpy surface and move it into the round skillet with open handle end.", + "Grab the light golden brown bread with the left arm and place in the metal skillet with comfortable grip", + "Grab the square-shaped bread and stick it in the round skillet with handle.", + "Place the hand-sized bread block into the gray skillet for stovetop cooking using the left arm", + "Take the golden bread and set it into the metal skillet with comfortable grip", + "Use the left arm to pick the hand-sized bread block for the dark gray skillet", + "Take the cuboid bread and put it in the round skillet with handle.", + "Pick up the golden bread and put it in the black-surfaced skillet with gray sides", + "Pick the bread block with light patches and set it into the metal skillet with comfortable grip.", + "Take the soft bread and put it in the smooth non-stick skillet.", + "Take the doughy and soft bread and place it inside the skillet for frying food", + "Pick the soft bread off the table and place it in the flat-bottom skillet.", + "Pick up the hand-sized bread block with the left arm and drop it in the medium-sized frying skillet", + "Take the hand-sized bread block off the table into the skillet for frying food", + "Use the left arm to pick the bread loaf with uneven edges and put it in the gray skillet for stovetop cooking", + "Place the golden bread loaf into the skillet with black cooking surface with the left arm.", + "Transfer the bread loaf with bumpy surface into the smooth non-stick skillet from the table", + "Grab the doughy and soft bread and drop it into the flat-bottom skillet", + "Use the left arm to grab the cuboid bread and set it in the medium-sized frying skillet.", + "Lift the cuboid bread using the left arm and move it to the metal skillet", + "Lift the bread block with light patches and drop it into the skillet for frying food", + "Put the bread with rough texture into the medium-sized frying skillet after grabbing it", + "Use the left arm to move the golden bread and set it into the skillet for frying food.", + "Use the left arm to stick the light golden brown bread into the flat-bottom skillet.", + "Use the left arm to pick the hand-sized bread block up for the round skillet with handle", + "Move the light golden brown bread to the skillet with black cooking surface using the left arm", + "Grab the bread loaf with bumpy surface from the table and set it in the round skillet with handle.", + "Pick the bread loaf with bumpy surface with the left arm and set it in the round skillet with handle", + "Move the hand-sized bread block from table into the skillet for frying food", + "Put the bread with rough texture into the round skillet with handle.", + "Pick up the bread block with light patches and place it in the metal skillet with comfortable grip.", + "Use the left arm to grab the bread loaf with bumpy surface for the round skillet with open handle end", + "Pick the cuboid bread up using the left arm and drop it in the gray skillet for stovetop cooking.", + "Use the left arm to grab the bread loaf with uneven edges for the gray skillet for stovetop cooking", + "Take the cuboid bread and place it inside the gray skillet for stovetop cooking", + "Set the bread loaf with bumpy surface into the metal skillet with comfortable grip after grabbing", + "Use the left arm to pick the golden bread and place it into the metal skillet.", + "Lift the cuboid bread and drop it into the round skillet with handle.", + "Use the left arm to lift the soft bread and place it into the gray skillet for stovetop cooking.", + "Place the hand-sized bread block from the table into the round skillet with handle", + "Grab the golden bread loaf and place it inside the metal skillet", + "Take the light golden brown bread with the left arm and drop into the smooth non-stick skillet", + "Use the left arm to set the bread loaf with uneven edges into the round skillet with open handle end.", + "Use the left arm to move the square-shaped bread into the metal skillet", + "Grab the soft bread and place it inside the gray skillet for stovetop cooking.", + "Use the left arm to place the soft bread into the medium-sized frying skillet", + "Pick the bread loaf with bumpy surface and transfer it to the black-surfaced skillet with gray sides", + "Move the hand-sized bread block into the round skillet with open handle end from the table", + "Take the bread loaf with uneven edges and drop it into the flat-bottom skillet.", + "Grab the bread loaf with bumpy surface using the left arm and place it in the medium-sized frying skillet", + "Use the left arm to take the golden bread and move it into the gray skillet for stovetop cooking.", + "Grab the golden bread loaf with the left arm and place in the flat-bottom skillet", + "Grab the cuboid bread and stick it in the round skillet with open handle end.", + "Place the bread loaf with bumpy surface into the round skillet with open handle end using the left arm", + "Take the soft bread and set it into the smooth non-stick skillet", + "Use the left arm to pick the bread loaf with bumpy surface for the dark gray skillet", + "Take the hand-sized bread block and put it in the metal skillet with comfortable grip.", + "Pick up the light golden brown bread and put it in the round skillet with handle", + "Pick the light golden brown bread and set it into the medium-sized frying skillet.", + "Take the cuboid bread and put it in the round skillet with open handle end.", + "Take the bread loaf with bumpy surface and place it inside the gray skillet for stovetop cooking", + "Pick the soft bread off the table and place it in the gray skillet for stovetop cooking.", + "Pick up the bread block with light patches with the left arm and drop it in the flat-bottom skillet", + "Take the square-shaped bread off the table into the metal skillet with comfortable grip", + "Use the left arm to pick the cuboid bread and put it in the round skillet with open handle end", + "Place the cuboid bread into the metal skillet with comfortable grip with the left arm.", + "Transfer the cuboid bread into the black-surfaced skillet with gray sides from the table", + "Grab the bread loaf with bumpy surface and drop it into the skillet for frying food", + "Use the left arm to grab the golden bread and set it in the smooth non-stick skillet.", + "Lift the golden bread loaf using the left arm and move it to the metal skillet", + "Lift the bread with rough texture and drop it into the round skillet with open handle end", + "Put the bread with rough texture into the medium-sized frying skillet after grabbing it" + ], + "unseen": [ + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Use the left arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Use the left arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Use the left arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Use the left arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Use the left arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Use the left arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Use the left arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Use the left arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the left arm.", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Use the left arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode19.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..3bd26c44df1d551392cb2b223bde0be7afcde0c2 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the hand-sized bread block from table into the heavy black cooking skillet", + "Move the golden bread loaf into the skillet with extended grip handle from the table", + "Place the cuboid bread into the smooth round pan made of iron with the right arm.", + "Pick up the soft bread and place it in the dark pan with sturdy grip.", + "Place the bread loaf with bumpy surface into the round cooking pan using the right arm", + "Put the light golden brown bread into the versatile skillet for stovetop cooking.", + "Transfer the golden bread into the heavy black cooking skillet from the table", + "Use the right arm to move the golden bread and set it into the black pan with curved edges.", + "Use the right arm to set the soft bread into the round pan with hole in handle.", + "Take the hand-sized bread block and put it in the black pan with curved edges.", + "Grab the bread with rough texture and drop it into the heavy black cooking skillet", + "Grab the bread block with light patches and stick it in the flat-bottomed skillet with long handle.", + "Use the right arm to pick the bread loaf with uneven edges and put it in the heavy black cooking skillet", + "Lift the bread loaf with bumpy surface and drop it into the round cooking pan", + "Use the right arm to grab the golden bread and set it in the skillet with extended grip handle.", + "Take the doughy and soft bread and drop it into the solid dark-colored round pan.", + "Take the square-shaped bread off the table into the medium black pan with handle", + "Use the right arm to grab the hand-sized bread block for the round pan with hole in handle", + "Use the right arm to lift the soft bread and place it into the skillet with extended grip handle.", + "Pick up the square-shaped bread and put it in the heavy black cooking skillet", + "Take the bread loaf with bumpy surface and set it into the round pan with hole in handle", + "Use the right arm to pick the golden bread for the flat-bottomed skillet with long handle", + "Use the right arm to stick the bread loaf with uneven edges into the black skillet with smooth base.", + "Pick the hand-sized bread block with the right arm and set it in the versatile skillet for stovetop cooking", + "Set the soft bread into the skillet with extended grip handle after grabbing", + "Take the bread loaf with uneven edges and put it in the flat-bottomed skillet with long handle.", + "Use the right arm to pick the bread with rough texture up for the round cooking pan", + "Pick the golden bread off the table and place it in the dark pan with sturdy grip.", + "Place the hand-sized bread block from the table into the heavy black cooking skillet", + "Pick the bread block with light patches and transfer it to the solid dark-colored round pan", + "Move the hand-sized bread block to the smooth round pan made of iron using the right arm", + "Pick the square-shaped bread up using the right arm and drop it in the dark pan with sturdy grip.", + "Use the right arm to take the bread with rough texture and move it into the medium black pan with handle.", + "Grab the bread loaf with bumpy surface and place it inside the heavy black cooking skillet", + "Grab the bread block with light patches and place it inside the round pan with hole in handle.", + "Take the soft bread with the right arm and drop into the dark pan with sturdy grip", + "Grab the bread loaf with uneven edges using the right arm and place it in the solid dark-colored round pan", + "Pick up the hand-sized bread block with the right arm and drop it in the flat-bottomed skillet with long handle", + "Use the right arm to grab the bread block with light patches for the flat-bottomed skillet with long handle", + "Use the right arm to pick the cuboid bread and place it into the medium black pan with handle.", + "Take the square-shaped bread and place it inside the round pan with hole in handle", + "Take the soft bread and place it inside the round cooking pan", + "Grab the bread block with light patches from the table and set it in the flat-bottomed skillet with long handle.", + "Grab the hand-sized bread block with the right arm and place in the skillet with extended grip handle", + "Use the right arm to move the golden bread into the smooth round pan made of iron", + "Lift the cuboid bread and drop it into the skillet with extended grip handle.", + "Put the golden bread loaf into the black skillet with smooth base after grabbing it", + "Use the right arm to place the doughy and soft bread into the round cooking pan", + "Pick the hand-sized bread block and set it into the skillet with extended grip handle.", + "Lift the square-shaped bread using the right arm and move it to the skillet with extended grip handle", + "Move the bread with rough texture from table into the heavy black cooking skillet", + "Move the bread loaf with bumpy surface into the dark pan with sturdy grip from the table", + "Place the bread block with light patches into the round cooking pan with the right arm.", + "Pick up the cuboid bread and place it in the black pan with curved edges.", + "Place the hand-sized bread block into the heavy black cooking skillet using the right arm", + "Put the soft bread into the heavy black cooking skillet.", + "Transfer the bread loaf with bumpy surface into the medium black pan with handle from the table", + "Use the right arm to move the light golden brown bread and set it into the dark pan with sturdy grip.", + "Use the right arm to set the bread with rough texture into the round cooking pan.", + "Take the bread with rough texture and put it in the flat-bottomed skillet with long handle.", + "Grab the cuboid bread and drop it into the black pan with curved edges", + "Grab the bread block with light patches and stick it in the round cooking pan.", + "Use the right arm to pick the cuboid bread and put it in the smooth round pan made of iron", + "Lift the bread block with light patches and drop it into the round pan with hole in handle", + "Use the right arm to grab the square-shaped bread and set it in the solid dark-colored round pan.", + "Take the square-shaped bread and drop it into the skillet with extended grip handle.", + "Take the square-shaped bread off the table into the flat-bottomed skillet with long handle", + "Use the right arm to grab the light golden brown bread for the black pan with curved edges", + "Use the right arm to lift the light golden brown bread and place it into the black skillet with smooth base.", + "Pick up the cuboid bread and put it in the heavy black cooking skillet", + "Take the bread block with light patches and set it into the black skillet with smooth base", + "Use the right arm to pick the bread loaf with bumpy surface for the round pan with hole in handle", + "Use the right arm to stick the soft bread into the medium black pan with handle.", + "Pick the soft bread with the right arm and set it in the flat-bottomed skillet with long handle", + "Set the light golden brown bread into the round pan with hole in handle after grabbing", + "Take the light golden brown bread and put it in the skillet with extended grip handle.", + "Use the right arm to pick the doughy and soft bread up for the black skillet with smooth base", + "Pick the golden bread off the table and place it in the solid dark-colored round pan.", + "Place the doughy and soft bread from the table into the black pan with curved edges", + "Pick the hand-sized bread block and transfer it to the medium black pan with handle", + "Move the soft bread to the flat-bottomed skillet with long handle using the right arm", + "Pick the light golden brown bread up using the right arm and drop it in the medium black pan with handle.", + "Use the right arm to take the cuboid bread and move it into the black pan with curved edges.", + "Grab the soft bread and place it inside the versatile skillet for stovetop cooking", + "Grab the bread loaf with bumpy surface and place it inside the black skillet with smooth base.", + "Take the cuboid bread with the right arm and drop into the flat-bottomed skillet with long handle", + "Grab the square-shaped bread using the right arm and place it in the skillet with extended grip handle", + "Pick up the doughy and soft bread with the right arm and drop it in the heavy black cooking skillet", + "Use the right arm to grab the square-shaped bread for the flat-bottomed skillet with long handle", + "Use the right arm to pick the light golden brown bread and place it into the heavy black cooking skillet.", + "Take the bread loaf with bumpy surface and place it inside the versatile skillet for stovetop cooking", + "Take the square-shaped bread and place it inside the black skillet with smooth base", + "Grab the golden bread loaf from the table and set it in the smooth round pan made of iron.", + "Grab the bread block with light patches with the right arm and place in the dark pan with sturdy grip", + "Use the right arm to move the light golden brown bread into the round cooking pan", + "Lift the light golden brown bread and drop it into the heavy black cooking skillet.", + "Put the doughy and soft bread into the solid dark-colored round pan after grabbing it", + "Use the right arm to place the golden bread into the black skillet with smooth base", + "Pick the doughy and soft bread and set it into the round cooking pan.", + "Lift the bread loaf with uneven edges using the right arm and move it to the black skillet with smooth base" + ], + "unseen": [ + "Take the rectangular bread loaf and put it in the round cast-iron skillet", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Pick up the bread loaf with soft surface and drop it into the round cast-iron skillet", + "Move the bread with golden crust to the round cast-iron skillet using the right arm.", + "Pick the bread with golden crust up and place it in the black skillet", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Use the right arm to grab the bread loaf with soft surface and set it in the black skillet", + "Use the right arm to move the bread with golden crust to the black skillet.", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Pick up the bread with golden crust and drop it into the black skillet", + "Move the bread loaf with soft surface to the iron skillet for frying foods using the right arm.", + "Pick the bread with golden crust up and place it in the black skillet", + "Grab the rectangular bread loaf and set it in the black skillet", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Use the right arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Use the right arm to move the bread loaf with soft surface to the black skillet.", + "Take the bread with golden crust and put it in the black skillet", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Pick up the bread with golden crust and drop it into the black skillet", + "Move the bread loaf with soft surface to the round cast-iron skillet using the right arm.", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and set it in the black skillet", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Use the right arm to grab the rectangular bread loaf and set it in the black skillet", + "Use the right arm to move the bread with golden crust to the iron skillet for frying foods.", + "Take the bread with golden crust and put it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Move the rectangular bread loaf to the iron skillet for frying foods using the right arm.", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Use the right arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Use the right arm to move the rectangular bread loaf to the round cast-iron skillet.", + "Take the rectangular bread loaf and put it in the black skillet", + "Grab the rectangular bread loaf and place it in the black skillet", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Pick up the bread loaf with soft surface and drop it into the round cast-iron skillet", + "Move the bread loaf with soft surface to the round cast-iron skillet using the right arm.", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the black skillet", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Use the right arm to grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Use the right arm to move the bread loaf with soft surface to the iron skillet for frying foods.", + "Take the bread with golden crust and put it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Pick up the bread with golden crust and drop it into the iron skillet for frying foods", + "Move the rectangular bread loaf to the black skillet using the right arm.", + "Pick the bread loaf with soft surface up and place it in the black skillet", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Use the right arm to grab the bread with golden crust and set it in the black skillet", + "Use the right arm to move the bread with golden crust to the black skillet.", + "Take the bread with golden crust and put it in the black skillet", + "Grab the rectangular bread loaf and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Pick up the bread with golden crust and drop it into the iron skillet for frying foods", + "Move the bread with golden crust to the round cast-iron skillet using the right arm.", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and set it in the black skillet", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Use the right arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Use the right arm to move the rectangular bread loaf to the round cast-iron skillet.", + "Take the bread loaf with soft surface and put it in the black skillet", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Move the rectangular bread loaf to the black skillet using the right arm.", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Grab the rectangular bread loaf and set it in the black skillet", + "Grab the bread loaf with soft surface and drop it into the round cast-iron skillet.", + "Use the right arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Use the right arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Take the rectangular bread loaf and put it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Grab the bread with golden crust and place it into the round cast-iron skillet.", + "Pick up the bread loaf with soft surface and drop it into the round cast-iron skillet", + "Move the rectangular bread loaf to the iron skillet for frying foods using the right arm.", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Use the right arm to grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Use the right arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Take the rectangular bread loaf and put it in the black skillet", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it into the black skillet.", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Move the bread loaf with soft surface to the black skillet using the right arm.", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and drop it into the round cast-iron skillet.", + "Use the right arm to grab the bread loaf with soft surface and set it in the black skillet", + "Use the right arm to move the bread loaf with soft surface to the black skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode2.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..5ebef680865e53e6bb93b724dca8caac5a6a4300 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the square loaf of bread and put it in the metal skillet with comfortable grip.", + "Use the left arm to move the slice-shaped bread and set it into the metal skillet.", + "Grab the bread with golden surface color using the left arm and place it in the round skillet with open handle end", + "Use the left arm to pick the bread with golden surface color up for the black-surfaced skillet with gray sides", + "Take the golden crusted bread slice with the left arm and drop into the metal skillet", + "Use the left arm to grab the soft golden baked bread for the black-surfaced skillet with gray sides", + "Use the left arm to pick the golden bread and place it into the metal skillet with comfortable grip.", + "Grab the bread loaf with square shape from the table and set it in the medium-sized frying skillet.", + "Set the golden brown loaf-shaped bread into the smooth non-stick skillet after grabbing", + "Use the left arm to lift the golden bread and place it into the smooth non-stick skillet.", + "Use the left arm to stick the brown bread loaf into the flat-bottom skillet.", + "Lift the bread with firm crust edges using the left arm and move it to the smooth non-stick skillet", + "Use the left arm to grab the golden brown loaf-shaped bread for the round skillet with handle", + "Use the left arm to grab the bread loaf with square shape and set it in the medium-sized frying skillet.", + "Pick up the brown bread loaf and place it in the smooth non-stick skillet.", + "Use the left arm to set the bread with firm crust edges into the flat-bottom skillet.", + "Pick the bread with rounded corners with the left arm and set it in the metal skillet", + "Grab the brown bread loaf and drop it into the medium-sized frying skillet", + "Use the left arm to pick the bread with rounded corners and put it in the dark gray skillet", + "Take the slice-shaped bread off the table into the round skillet with handle", + "Pick the soft golden baked bread up using the left arm and drop it in the skillet for frying food.", + "Grab the bread loaf with square shape and place it inside the skillet for frying food.", + "Pick up the bread loaf with square shape and put it in the round skillet with handle", + "Pick the golden crusted bread slice and set it into the round skillet with open handle end.", + "Use the left arm to take the square loaf of bread and move it into the medium-sized frying skillet.", + "Take the soft golden baked bread and place it inside the skillet with black cooking surface", + "Transfer the slice-shaped bread into the metal skillet from the table", + "Place the bread with firm crust edges into the round skillet with open handle end with the left arm.", + "Place the square loaf of bread into the metal skillet with comfortable grip using the left arm", + "Put the golden bread into the flat-bottom skillet after grabbing it", + "Move the bread with firm crust edges from table into the skillet for frying food", + "Pick up the bread loaf with square shape with the left arm and drop it in the gray skillet for stovetop cooking", + "Put the golden brown loaf-shaped bread into the skillet for frying food.", + "Take the golden crusted bread slice and set it into the round skillet with open handle end", + "Use the left arm to move the soft golden baked bread into the flat-bottom skillet", + "Lift the brown bread loaf and drop it into the skillet for frying food.", + "Move the bread with rounded corners to the metal skillet using the left arm", + "Pick the brown bread loaf off the table and place it in the dark gray skillet.", + "Grab the golden bread and place it inside the smooth non-stick skillet", + "Grab the rectangular bread soft inside with the left arm and place in the dark gray skillet", + "Move the bread with firm crust edges into the gray skillet for stovetop cooking from the table", + "Grab the bread loaf with square shape and stick it in the skillet for frying food.", + "Take the square loaf of bread and drop it into the medium-sized frying skillet.", + "Use the left arm to pick the golden crusted bread slice for the medium-sized frying skillet", + "Lift the brown bread loaf and drop it into the gray skillet for stovetop cooking", + "Use the left arm to place the rectangular bread soft inside into the skillet with black cooking surface", + "Take the soft golden baked bread and put it in the skillet for frying food.", + "Take the rectangular bread soft inside and place it inside the round skillet with open handle end", + "Place the bread with firm crust edges from the table into the round skillet with handle", + "Pick the bread with firm crust edges and transfer it to the gray skillet for stovetop cooking", + "Take the soft golden baked bread and put it in the flat-bottom skillet.", + "Use the left arm to move the bread with firm crust edges and set it into the round skillet with handle.", + "Grab the slice-shaped bread using the left arm and place it in the round skillet with handle", + "Use the left arm to pick the soft golden baked bread up for the dark gray skillet", + "Take the golden brown loaf-shaped bread with the left arm and drop into the smooth non-stick skillet", + "Use the left arm to grab the golden brown loaf-shaped bread for the skillet for frying food", + "Use the left arm to pick the golden bread and place it into the smooth non-stick skillet.", + "Grab the brown bread loaf from the table and set it in the medium-sized frying skillet.", + "Set the soft golden baked bread into the skillet for frying food after grabbing", + "Use the left arm to lift the rectangular bread soft inside and place it into the gray skillet for stovetop cooking.", + "Use the left arm to stick the slice-shaped bread into the metal skillet with comfortable grip.", + "Lift the bread with firm crust edges using the left arm and move it to the flat-bottom skillet", + "Use the left arm to grab the bread with firm crust edges for the dark gray skillet", + "Use the left arm to grab the square loaf of bread and set it in the skillet for frying food.", + "Pick up the square loaf of bread and place it in the metal skillet with comfortable grip.", + "Use the left arm to set the golden brown loaf-shaped bread into the skillet with black cooking surface.", + "Pick the soft golden baked bread with the left arm and set it in the medium-sized frying skillet", + "Grab the bread with firm crust edges and drop it into the flat-bottom skillet", + "Use the left arm to pick the bread with rounded corners and put it in the metal skillet with comfortable grip", + "Take the slice-shaped bread off the table into the smooth non-stick skillet", + "Pick the golden crusted bread slice up using the left arm and drop it in the flat-bottom skillet.", + "Grab the golden crusted bread slice and place it inside the black-surfaced skillet with gray sides.", + "Pick up the golden brown loaf-shaped bread and put it in the skillet for frying food", + "Pick the bread with golden surface color and set it into the smooth non-stick skillet.", + "Use the left arm to take the rectangular bread soft inside and move it into the skillet for frying food.", + "Take the rectangular bread soft inside and place it inside the black-surfaced skillet with gray sides", + "Transfer the square loaf of bread into the metal skillet with comfortable grip from the table", + "Place the slice-shaped bread into the black-surfaced skillet with gray sides with the left arm.", + "Place the slice-shaped bread into the smooth non-stick skillet using the left arm", + "Put the bread with firm crust edges into the metal skillet with comfortable grip after grabbing it", + "Move the golden crusted bread slice from table into the round skillet with open handle end", + "Pick up the golden bread with the left arm and drop it in the metal skillet", + "Put the brown bread loaf into the flat-bottom skillet.", + "Take the bread with rounded corners and set it into the flat-bottom skillet", + "Use the left arm to move the golden brown loaf-shaped bread into the flat-bottom skillet", + "Lift the slice-shaped bread and drop it into the skillet for frying food.", + "Move the golden brown loaf-shaped bread to the metal skillet using the left arm", + "Pick the rectangular bread soft inside off the table and place it in the metal skillet with comfortable grip.", + "Grab the bread with golden surface color and place it inside the black-surfaced skillet with gray sides", + "Grab the square loaf of bread with the left arm and place in the gray skillet for stovetop cooking", + "Move the brown bread loaf into the metal skillet with comfortable grip from the table", + "Grab the golden crusted bread slice and stick it in the gray skillet for stovetop cooking.", + "Take the square loaf of bread and drop it into the round skillet with handle.", + "Use the left arm to pick the soft golden baked bread for the round skillet with open handle end", + "Lift the soft golden baked bread and drop it into the gray skillet for stovetop cooking", + "Use the left arm to place the soft golden baked bread into the metal skillet", + "Take the bread loaf with square shape and put it in the medium-sized frying skillet.", + "Take the bread with firm crust edges and place it inside the dark gray skillet", + "Place the brown bread loaf from the table into the skillet with black cooking surface", + "Pick the golden brown loaf-shaped bread and transfer it to the skillet for frying food" + ], + "unseen": [ + "Grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Use the left arm to move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Grab the soft rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Use the left arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Take the bread loaf medium-sized and put it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it in the versatile skillet for frying and sauteing", + "Move the small loaf-shaped bread to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the soft rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and drop it into the dark skillet with shiny finish.", + "Grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the small loaf-shaped bread to the pan-shaped skillet with hole in handle.", + "Grab the small loaf-shaped bread and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Take the small loaf-shaped bread and put it in the dark skillet with shiny finish", + "Pick up the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and place it in the versatile skillet for frying and sauteing", + "Move the soft rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Pick the bread loaf medium-sized up and place it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread loaf medium-sized to the pan-shaped skillet with hole in handle.", + "Grab the soft rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Pick up the small loaf-shaped bread and drop it into the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it in the pan-shaped skillet with hole in handle", + "Move the small loaf-shaped bread to the versatile skillet for frying and sauteing using the left arm.", + "Pick the soft rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and drop it into the dark skillet with shiny finish.", + "Grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Take the soft rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and place it in the dark skillet with shiny finish", + "Move the soft rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Pick the small loaf-shaped bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Use the left arm to move the bread loaf medium-sized to the pan-shaped skillet with hole in handle.", + "Grab the bread loaf medium-sized and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Take the bread loaf medium-sized and put it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Move the bread loaf medium-sized to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the bread loaf medium-sized up and place it in the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the small loaf-shaped bread to the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Take the soft rectangular bread loaf and put it in the dark skillet with shiny finish", + "Pick up the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and place it in the pan-shaped skillet with hole in handle", + "Move the bread loaf medium-sized to the versatile skillet for frying and sauteing using the left arm.", + "Pick the small loaf-shaped bread up and place it in the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread loaf medium-sized to the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Take the soft rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and place it in the pan-shaped skillet with hole in handle", + "Move the soft rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Pick the small loaf-shaped bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and drop it into the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Use the left arm to move the small loaf-shaped bread to the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Take the bread loaf medium-sized and put it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Move the bread loaf medium-sized to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the small loaf-shaped bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the small loaf-shaped bread to the pan-shaped skillet with hole in handle.", + "Grab the small loaf-shaped bread and place it into the dark skillet with shiny finish.", + "Use the left arm to grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Take the small loaf-shaped bread and put it in the dark skillet with shiny finish", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it in the versatile skillet for frying and sauteing", + "Move the soft rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Pick the bread loaf medium-sized up and place it in the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread loaf medium-sized to the pan-shaped skillet with hole in handle.", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Take the soft rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Pick up the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and place it in the dark skillet with shiny finish", + "Move the small loaf-shaped bread to the versatile skillet for frying and sauteing using the left arm.", + "Pick the bread loaf medium-sized up and place it in the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and drop it into the dark skillet with shiny finish." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode20.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..be2222c4a0a3fdbdd3fbfde6f529e0599895c1aa --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put the small golden brown bread into the metal skillet.", + "Pick the light brown loaf with smooth sides with the right arm and set it in the medium-sized frying skillet", + "Use the right arm to pick the light brown loaf with smooth sides up for the smooth non-stick skillet", + "Use the right arm to grab the bread with golden-brown crust for the gray skillet for stovetop cooking", + "Move the light brown bread with ridges into the round skillet with open handle end from the table", + "Move the small loaf with curved top to the smooth non-stick skillet using the right arm", + "Place the bread with golden-brown crust into the gray skillet for stovetop cooking using the right arm", + "Use the right arm to lift the small golden brown bread and place it into the metal skillet with comfortable grip.", + "Use the right arm to grab the light brown loaf with smooth sides for the skillet for frying food", + "Take the golden bread loaf and put it in the medium-sized frying skillet.", + "Use the right arm to pick the soft brown bread and put it in the round skillet with open handle end", + "Take the light brown loaf with smooth sides and set it into the dark gray skillet", + "Grab the hand-sized oval loaf from the table and set it in the skillet with black cooking surface.", + "Use the right arm to grab the soft brown bread and set it in the flat-bottom skillet.", + "Place the soft brown bread into the skillet with black cooking surface with the right arm.", + "Grab the light brown bread with ridges and place it inside the gray skillet for stovetop cooking.", + "Lift the smooth loaf with rounded edges and drop it into the round skillet with open handle end", + "Grab the light brown bread with ridges and stick it in the flat-bottom skillet.", + "Use the right arm to stick the light brown bread with ridges into the gray skillet for stovetop cooking.", + "Pick up the golden bread loaf and place it in the round skillet with handle.", + "Transfer the brown loaf into the metal skillet from the table", + "Move the light brown loaf with smooth sides from table into the round skillet with handle", + "Grab the light brown loaf with smooth sides and drop it into the metal skillet", + "Use the right arm to move the brown loaf into the black-surfaced skillet with gray sides", + "Take the light brown loaf with smooth sides with the right arm and drop into the metal skillet", + "Place the hand-sized oval loaf from the table into the skillet with black cooking surface", + "Use the right arm to pick the brown loaf for the metal skillet with comfortable grip", + "Lift the light brown bread with ridges using the right arm and move it to the skillet with black cooking surface", + "Grab the hand-sized oval loaf with the right arm and place in the gray skillet for stovetop cooking", + "Use the right arm to place the hand-sized oval loaf into the gray skillet for stovetop cooking", + "Pick up the smooth loaf with rounded edges with the right arm and drop it in the black-surfaced skillet with gray sides", + "Take the hand-sized oval loaf and put it in the smooth non-stick skillet.", + "Take the small loaf with curved top off the table into the black-surfaced skillet with gray sides", + "Pick the bread with split top and set it into the gray skillet for stovetop cooking.", + "Take the light brown bread with ridges and drop it into the flat-bottom skillet.", + "Grab the soft brown bread and place it inside the smooth non-stick skillet", + "Pick the smooth loaf with rounded edges up using the right arm and drop it in the round skillet with open handle end.", + "Lift the bread with golden-brown crust and drop it into the round skillet with open handle end.", + "Use the right arm to set the light brown bread with ridges into the metal skillet with comfortable grip.", + "Set the bread with split top into the smooth non-stick skillet after grabbing", + "Put the light brown bread with ridges into the medium-sized frying skillet after grabbing it", + "Use the right arm to move the bread with warm golden color and set it into the round skillet with open handle end.", + "Take the bread with warm golden color and place it inside the gray skillet for stovetop cooking", + "Pick the smooth loaf with rounded edges off the table and place it in the smooth non-stick skillet.", + "Use the right arm to take the small golden brown bread and move it into the medium-sized frying skillet.", + "Pick up the small golden brown bread and put it in the skillet with black cooking surface", + "Use the right arm to pick the small loaf with curved top and place it into the skillet with black cooking surface.", + "Grab the bread with golden-brown crust using the right arm and place it in the smooth non-stick skillet", + "Take the bread with warm golden color and place it inside the dark gray skillet", + "Pick the soft brown bread and transfer it to the round skillet with handle", + "Put the bread with golden-brown crust into the medium-sized frying skillet.", + "Pick the bread with split top with the right arm and set it in the black-surfaced skillet with gray sides", + "Use the right arm to pick the hand-sized oval loaf up for the flat-bottom skillet", + "Use the right arm to grab the brown loaf for the round skillet with handle", + "Move the brown loaf into the smooth non-stick skillet from the table", + "Move the soft brown bread to the gray skillet for stovetop cooking using the right arm", + "Place the soft brown bread into the skillet for frying food using the right arm", + "Use the right arm to lift the bread with split top and place it into the medium-sized frying skillet.", + "Use the right arm to grab the small golden brown bread for the medium-sized frying skillet", + "Take the small loaf with curved top and put it in the skillet with black cooking surface.", + "Use the right arm to pick the golden bread loaf and put it in the skillet for frying food", + "Take the brown loaf and set it into the skillet with black cooking surface", + "Grab the soft brown bread from the table and set it in the metal skillet with comfortable grip.", + "Use the right arm to grab the soft brown bread and set it in the flat-bottom skillet.", + "Place the bread with warm golden color into the black-surfaced skillet with gray sides with the right arm.", + "Grab the smooth loaf with rounded edges and place it inside the metal skillet with comfortable grip.", + "Lift the light brown bread with ridges and drop it into the skillet with black cooking surface", + "Grab the soft brown bread and stick it in the medium-sized frying skillet.", + "Use the right arm to stick the small golden brown bread into the round skillet with handle.", + "Pick up the hand-sized oval loaf and place it in the metal skillet with comfortable grip.", + "Transfer the brown loaf into the metal skillet from the table", + "Move the bread with golden-brown crust from table into the skillet for frying food", + "Grab the smooth loaf with rounded edges and drop it into the metal skillet with comfortable grip", + "Use the right arm to move the brown loaf into the round skillet with handle", + "Take the hand-sized oval loaf with the right arm and drop into the skillet with black cooking surface", + "Place the light brown bread with ridges from the table into the round skillet with handle", + "Use the right arm to pick the smooth loaf with rounded edges for the smooth non-stick skillet", + "Lift the smooth loaf with rounded edges using the right arm and move it to the metal skillet", + "Grab the hand-sized oval loaf with the right arm and place in the black-surfaced skillet with gray sides", + "Use the right arm to place the smooth loaf with rounded edges into the smooth non-stick skillet", + "Pick up the bread with golden-brown crust with the right arm and drop it in the metal skillet", + "Take the light brown loaf with smooth sides and put it in the skillet with black cooking surface.", + "Take the bread with split top off the table into the dark gray skillet", + "Pick the light brown loaf with smooth sides and set it into the dark gray skillet.", + "Take the small loaf with curved top and drop it into the round skillet with handle.", + "Grab the smooth loaf with rounded edges and place it inside the skillet for frying food", + "Pick the bread with split top up using the right arm and drop it in the skillet for frying food.", + "Lift the golden bread loaf and drop it into the metal skillet with comfortable grip.", + "Use the right arm to set the golden bread loaf into the gray skillet for stovetop cooking.", + "Set the light brown loaf with smooth sides into the round skillet with open handle end after grabbing", + "Put the bread with golden-brown crust into the metal skillet after grabbing it", + "Use the right arm to move the light brown bread with ridges and set it into the flat-bottom skillet.", + "Take the golden bread loaf and place it inside the skillet with black cooking surface", + "Pick the bread with golden-brown crust off the table and place it in the round skillet with handle.", + "Use the right arm to take the hand-sized oval loaf and move it into the metal skillet.", + "Pick up the soft brown bread and put it in the medium-sized frying skillet", + "Use the right arm to pick the soft brown bread and place it into the skillet for frying food.", + "Grab the soft brown bread using the right arm and place it in the gray skillet for stovetop cooking", + "Take the brown loaf and place it inside the round skillet with handle", + "Pick the hand-sized oval loaf and transfer it to the skillet for frying food" + ], + "unseen": [ + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the oval bread to the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the right arm.", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the right arm.", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Take the oval-shaped soft bread and put it in the dark skillet with shiny finish", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Use the right arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the rounded oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and set it in the dark skillet with shiny finish", + "Use the right arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the rounded oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the oval bread to the versatile skillet for frying and sauteing." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode21.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..e734d3ea787198a34e0040ffa16898f8b49562ae --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the soft brown bread with the left arm and set it in the medium-sized frying skillet", + "Use the left arm to pick the bread with warm golden color and place it into the metal skillet.", + "Put the light brown bread with ridges into the medium-sized frying skillet.", + "Use the left arm to grab the smooth loaf with rounded edges and set it in the round skillet with open handle end.", + "Grab the light brown bread with ridges and drop it into the flat-bottom skillet", + "Grab the bread with split top and place it inside the skillet with black cooking surface", + "Pick the small golden brown bread and set it into the round skillet with open handle end.", + "Use the left arm to move the bread with golden-brown crust into the smooth non-stick skillet", + "Take the smooth loaf with rounded edges and put it in the metal skillet.", + "Place the small loaf with curved top from the table into the dark gray skillet", + "Use the left arm to take the bread with split top and move it into the round skillet with open handle end.", + "Use the left arm to pick the bread with warm golden color for the skillet with black cooking surface", + "Transfer the golden bread loaf into the flat-bottom skillet from the table", + "Take the light brown loaf with smooth sides with the left arm and drop into the metal skillet with comfortable grip", + "Take the smooth loaf with rounded edges and set it into the smooth non-stick skillet", + "Pick the small golden brown bread and transfer it to the skillet for frying food", + "Pick up the brown loaf and put it in the skillet for frying food", + "Pick the smooth loaf with rounded edges off the table and place it in the round skillet with open handle end.", + "Use the left arm to pick the soft brown bread and put it in the metal skillet with comfortable grip", + "Use the left arm to lift the light brown bread with ridges and place it into the round skillet with handle.", + "Take the smooth loaf with rounded edges and place it inside the dark gray skillet", + "Move the golden bread loaf from table into the round skillet with open handle end", + "Pick up the golden bread loaf with the left arm and drop it in the skillet with black cooking surface", + "Place the light brown loaf with smooth sides into the skillet with black cooking surface using the left arm", + "Pick the small loaf with curved top up using the left arm and drop it in the flat-bottom skillet.", + "Pick up the smooth loaf with rounded edges and place it in the flat-bottom skillet.", + "Use the left arm to grab the golden bread loaf for the skillet for frying food", + "Lift the bread with golden-brown crust and drop it into the metal skillet with comfortable grip", + "Take the bread with golden-brown crust and drop it into the skillet with black cooking surface.", + "Place the hand-sized oval loaf into the metal skillet with the left arm.", + "Use the left arm to move the small loaf with curved top and set it into the dark gray skillet.", + "Use the left arm to set the golden bread loaf into the medium-sized frying skillet.", + "Use the left arm to grab the bread with golden-brown crust for the round skillet with open handle end", + "Grab the soft brown bread with the left arm and place in the round skillet with open handle end", + "Move the light brown bread with ridges into the flat-bottom skillet from the table", + "Move the smooth loaf with rounded edges to the metal skillet using the left arm", + "Take the brown loaf and put it in the metal skillet.", + "Grab the light brown bread with ridges and place it inside the dark gray skillet.", + "Lift the bread with golden-brown crust and drop it into the gray skillet for stovetop cooking.", + "Grab the small golden brown bread using the left arm and place it in the smooth non-stick skillet", + "Grab the bread with split top from the table and set it in the metal skillet.", + "Grab the soft brown bread and stick it in the medium-sized frying skillet.", + "Put the smooth loaf with rounded edges into the smooth non-stick skillet after grabbing it", + "Set the hand-sized oval loaf into the medium-sized frying skillet after grabbing", + "Use the left arm to pick the golden bread loaf up for the flat-bottom skillet", + "Use the left arm to stick the hand-sized oval loaf into the smooth non-stick skillet.", + "Use the left arm to place the golden bread loaf into the round skillet with handle", + "Take the bread with split top off the table into the smooth non-stick skillet", + "Lift the soft brown bread using the left arm and move it to the dark gray skillet", + "Take the bread with golden-brown crust and place it inside the medium-sized frying skillet", + "Pick the soft brown bread with the left arm and set it in the medium-sized frying skillet", + "Use the left arm to pick the small golden brown bread and place it into the flat-bottom skillet.", + "Put the smooth loaf with rounded edges into the round skillet with handle.", + "Use the left arm to grab the bread with split top and set it in the round skillet with open handle end.", + "Grab the hand-sized oval loaf and drop it into the metal skillet", + "Grab the hand-sized oval loaf and place it inside the black-surfaced skillet with gray sides", + "Pick the small loaf with curved top and set it into the gray skillet for stovetop cooking.", + "Use the left arm to move the bread with split top into the dark gray skillet", + "Take the bread with split top and put it in the round skillet with open handle end.", + "Place the brown loaf from the table into the gray skillet for stovetop cooking", + "Use the left arm to take the light brown bread with ridges and move it into the metal skillet.", + "Use the left arm to pick the bread with golden-brown crust for the metal skillet with comfortable grip", + "Transfer the hand-sized oval loaf into the skillet with black cooking surface from the table", + "Take the bread with golden-brown crust with the left arm and drop into the metal skillet", + "Take the soft brown bread and set it into the round skillet with open handle end", + "Pick the light brown bread with ridges and transfer it to the flat-bottom skillet", + "Pick up the smooth loaf with rounded edges and put it in the black-surfaced skillet with gray sides", + "Pick the light brown bread with ridges off the table and place it in the skillet for frying food.", + "Use the left arm to pick the smooth loaf with rounded edges and put it in the metal skillet with comfortable grip", + "Use the left arm to lift the light brown bread with ridges and place it into the skillet for frying food.", + "Take the soft brown bread and place it inside the round skillet with open handle end", + "Move the bread with warm golden color from table into the skillet for frying food", + "Pick up the bread with split top with the left arm and drop it in the smooth non-stick skillet", + "Place the small golden brown bread into the dark gray skillet using the left arm", + "Pick the bread with golden-brown crust up using the left arm and drop it in the skillet for frying food.", + "Pick up the small loaf with curved top and place it in the gray skillet for stovetop cooking.", + "Use the left arm to grab the brown loaf for the smooth non-stick skillet", + "Lift the small loaf with curved top and drop it into the round skillet with handle", + "Take the soft brown bread and drop it into the dark gray skillet.", + "Place the hand-sized oval loaf into the smooth non-stick skillet with the left arm.", + "Use the left arm to move the small loaf with curved top and set it into the black-surfaced skillet with gray sides.", + "Use the left arm to set the light brown bread with ridges into the metal skillet with comfortable grip.", + "Use the left arm to grab the light brown loaf with smooth sides for the skillet for frying food", + "Grab the light brown bread with ridges with the left arm and place in the flat-bottom skillet", + "Move the soft brown bread into the round skillet with handle from the table", + "Move the bread with golden-brown crust to the smooth non-stick skillet using the left arm", + "Take the bread with split top and put it in the round skillet with handle.", + "Grab the light brown loaf with smooth sides and place it inside the skillet with black cooking surface.", + "Lift the hand-sized oval loaf and drop it into the metal skillet.", + "Grab the bread with golden-brown crust using the left arm and place it in the skillet for frying food", + "Grab the smooth loaf with rounded edges from the table and set it in the round skillet with handle.", + "Grab the golden bread loaf and stick it in the metal skillet with comfortable grip.", + "Put the bread with golden-brown crust into the skillet with black cooking surface after grabbing it", + "Set the smooth loaf with rounded edges into the metal skillet after grabbing", + "Use the left arm to pick the smooth loaf with rounded edges up for the skillet for frying food", + "Use the left arm to stick the small golden brown bread into the gray skillet for stovetop cooking.", + "Use the left arm to place the smooth loaf with rounded edges into the skillet with black cooking surface", + "Take the light brown bread with ridges off the table into the round skillet with open handle end", + "Lift the bread with warm golden color using the left arm and move it to the metal skillet with comfortable grip", + "Take the light brown bread with ridges and place it inside the flat-bottom skillet" + ], + "unseen": [ + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Use the left arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Move the oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Move the oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Grab the oval bread and set it in the dark skillet with shiny finish", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Move the oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Take the oval bread and put it in the dark skillet with shiny finish", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the left arm.", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Use the left arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Move the oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode22.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..cdb7941a73095d9531150a56a17d003485fbe1bc --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift the golden crusted bread slice and place it into the round cooking pan.", + "Pick the bread with firm crust edges with the left arm and set it in the round cooking pan", + "Pick the golden crusted bread slice and set it into the black skillet with smooth base.", + "Pick the brown bread loaf off the table and place it in the versatile skillet for stovetop cooking.", + "Take the golden bread and put it in the black pan with curved edges.", + "Pick up the bread with firm crust edges and place it in the heavy black cooking skillet.", + "Move the golden brown loaf-shaped bread into the medium black pan with handle from the table", + "Use the left arm to stick the brown bread loaf into the round pan with hole in handle.", + "Grab the bread with rounded corners and place it inside the smooth round pan made of iron", + "Take the brown bread loaf and set it into the heavy black cooking skillet", + "Pick the bread with golden surface color up using the left arm and drop it in the medium black pan with handle.", + "Set the bread with rounded corners into the versatile skillet for stovetop cooking after grabbing", + "Place the bread with golden surface color from the table into the flat-bottomed skillet with long handle", + "Put the rectangular bread soft inside into the round pan with hole in handle after grabbing it", + "Transfer the golden bread into the flat-bottomed skillet with long handle from the table", + "Lift the golden crusted bread slice and drop it into the solid dark-colored round pan.", + "Use the left arm to pick the bread loaf with square shape up for the round pan with hole in handle", + "Move the bread with firm crust edges from table into the skillet with extended grip handle", + "Pick up the golden bread and put it in the flat-bottomed skillet with long handle", + "Grab the rectangular bread soft inside with the left arm and place in the flat-bottomed skillet with long handle", + "Move the golden bread to the smooth round pan made of iron using the left arm", + "Take the golden brown loaf-shaped bread off the table into the black pan with curved edges", + "Take the bread with rounded corners and place it inside the skillet with extended grip handle", + "Take the golden brown loaf-shaped bread and place it inside the skillet with extended grip handle", + "Grab the square loaf of bread and drop it into the black pan with curved edges", + "Place the golden crusted bread slice into the black skillet with smooth base using the left arm", + "Take the golden crusted bread slice and put it in the skillet with extended grip handle.", + "Place the golden brown loaf-shaped bread into the solid dark-colored round pan with the left arm.", + "Use the left arm to move the slice-shaped bread into the black pan with curved edges", + "Grab the bread with golden surface color using the left arm and place it in the flat-bottomed skillet with long handle", + "Grab the brown bread loaf from the table and set it in the medium black pan with handle.", + "Use the left arm to grab the bread with firm crust edges and set it in the skillet with extended grip handle.", + "Pick the bread with rounded corners and transfer it to the versatile skillet for stovetop cooking", + "Use the left arm to set the bread with rounded corners into the round pan with hole in handle.", + "Lift the square loaf of bread using the left arm and move it to the black skillet with smooth base", + "Put the bread with rounded corners into the round cooking pan.", + "Take the bread with golden surface color and drop it into the round cooking pan.", + "Use the left arm to grab the bread with golden surface color for the versatile skillet for stovetop cooking", + "Take the bread loaf with square shape with the left arm and drop into the black pan with curved edges", + "Use the left arm to pick the bread with firm crust edges and put it in the versatile skillet for stovetop cooking", + "Pick up the bread with firm crust edges with the left arm and drop it in the medium black pan with handle", + "Use the left arm to place the bread with rounded corners into the versatile skillet for stovetop cooking", + "Lift the soft golden baked bread and drop it into the flat-bottomed skillet with long handle", + "Use the left arm to pick the bread with rounded corners and place it into the flat-bottomed skillet with long handle.", + "Grab the brown bread loaf and stick it in the black skillet with smooth base.", + "Use the left arm to grab the golden bread for the solid dark-colored round pan", + "Use the left arm to pick the bread with firm crust edges for the black pan with curved edges", + "Use the left arm to move the bread with golden surface color and set it into the heavy black cooking skillet.", + "Use the left arm to take the bread with rounded corners and move it into the smooth round pan made of iron.", + "Grab the golden brown loaf-shaped bread and place it inside the heavy black cooking skillet.", + "Use the left arm to lift the golden brown loaf-shaped bread and place it into the round cooking pan.", + "Pick the slice-shaped bread with the left arm and set it in the heavy black cooking skillet", + "Pick the bread with rounded corners and set it into the black skillet with smooth base.", + "Pick the bread with golden surface color off the table and place it in the dark pan with sturdy grip.", + "Take the bread with rounded corners and put it in the black skillet with smooth base.", + "Pick up the golden brown loaf-shaped bread and place it in the versatile skillet for stovetop cooking.", + "Move the soft golden baked bread into the solid dark-colored round pan from the table", + "Use the left arm to stick the golden crusted bread slice into the smooth round pan made of iron.", + "Grab the slice-shaped bread and place it inside the black pan with curved edges", + "Take the bread with rounded corners and set it into the black pan with curved edges", + "Pick the bread with firm crust edges up using the left arm and drop it in the heavy black cooking skillet.", + "Set the bread with rounded corners into the dark pan with sturdy grip after grabbing", + "Place the brown bread loaf from the table into the flat-bottomed skillet with long handle", + "Put the bread loaf with square shape into the skillet with extended grip handle after grabbing it", + "Transfer the golden bread into the heavy black cooking skillet from the table", + "Lift the golden bread and drop it into the round cooking pan.", + "Use the left arm to pick the rectangular bread soft inside up for the round cooking pan", + "Move the bread with rounded corners from table into the smooth round pan made of iron", + "Pick up the slice-shaped bread and put it in the skillet with extended grip handle", + "Grab the golden crusted bread slice with the left arm and place in the heavy black cooking skillet", + "Move the bread with rounded corners to the versatile skillet for stovetop cooking using the left arm", + "Take the square loaf of bread off the table into the solid dark-colored round pan", + "Take the bread with golden surface color and place it inside the medium black pan with handle", + "Take the square loaf of bread and place it inside the versatile skillet for stovetop cooking", + "Grab the golden brown loaf-shaped bread and drop it into the dark pan with sturdy grip", + "Place the bread with golden surface color into the black pan with curved edges using the left arm", + "Take the golden brown loaf-shaped bread and put it in the black skillet with smooth base.", + "Place the golden brown loaf-shaped bread into the heavy black cooking skillet with the left arm.", + "Use the left arm to move the golden brown loaf-shaped bread into the medium black pan with handle", + "Grab the bread with golden surface color using the left arm and place it in the black pan with curved edges", + "Grab the brown bread loaf from the table and set it in the round pan with hole in handle.", + "Use the left arm to grab the golden crusted bread slice and set it in the versatile skillet for stovetop cooking.", + "Pick the square loaf of bread and transfer it to the heavy black cooking skillet", + "Use the left arm to set the golden brown loaf-shaped bread into the flat-bottomed skillet with long handle.", + "Lift the soft golden baked bread using the left arm and move it to the heavy black cooking skillet", + "Put the golden crusted bread slice into the round pan with hole in handle.", + "Take the brown bread loaf and drop it into the skillet with extended grip handle.", + "Use the left arm to grab the golden crusted bread slice for the black pan with curved edges", + "Take the bread with firm crust edges with the left arm and drop into the solid dark-colored round pan", + "Use the left arm to pick the rectangular bread soft inside and put it in the round pan with hole in handle", + "Pick up the square loaf of bread with the left arm and drop it in the flat-bottomed skillet with long handle", + "Use the left arm to place the square loaf of bread into the versatile skillet for stovetop cooking", + "Lift the brown bread loaf and drop it into the versatile skillet for stovetop cooking", + "Use the left arm to pick the golden crusted bread slice and place it into the black skillet with smooth base.", + "Grab the bread with firm crust edges and stick it in the flat-bottomed skillet with long handle.", + "Use the left arm to grab the bread with firm crust edges for the heavy black cooking skillet", + "Use the left arm to pick the soft golden baked bread for the smooth round pan made of iron", + "Use the left arm to move the bread loaf with square shape and set it into the round cooking pan.", + "Use the left arm to take the bread loaf with square shape and move it into the heavy black cooking skillet.", + "Grab the golden bread and place it inside the flat-bottomed skillet with long handle." + ], + "unseen": [ + "Grab the soft rectangular bread loaf and place it into the black skillet.", + "Pick the bread loaf medium-sized up and place it in the black skillet", + "Move the small loaf-shaped bread to the black skillet using the left arm.", + "Grab the bread loaf medium-sized and place it in the round cast-iron skillet", + "Pick up the small loaf-shaped bread and drop it into the round cast-iron skillet", + "Grab the soft rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Use the left arm to grab the small loaf-shaped bread and set it in the round cast-iron skillet", + "Take the soft rectangular bread loaf and put it in the iron skillet for frying foods", + "Grab the bread loaf medium-sized and set it in the black skillet", + "Use the left arm to move the small loaf-shaped bread to the iron skillet for frying foods.", + "Grab the small loaf-shaped bread and place it into the black skillet.", + "Pick the soft rectangular bread loaf up and place it in the black skillet", + "Move the bread loaf medium-sized to the round cast-iron skillet using the left arm.", + "Grab the soft rectangular bread loaf and place it in the black skillet", + "Pick up the bread loaf medium-sized and drop it into the black skillet", + "Grab the bread loaf medium-sized and drop it into the black skillet.", + "Use the left arm to grab the bread loaf medium-sized and set it in the iron skillet for frying foods", + "Take the bread loaf medium-sized and put it in the iron skillet for frying foods", + "Grab the soft rectangular bread loaf and set it in the black skillet", + "Use the left arm to move the soft rectangular bread loaf to the black skillet.", + "Grab the small loaf-shaped bread and place it into the iron skillet for frying foods.", + "Pick the small loaf-shaped bread up and place it in the black skillet", + "Move the bread loaf medium-sized to the round cast-iron skillet using the left arm.", + "Grab the soft rectangular bread loaf and place it in the black skillet", + "Pick up the soft rectangular bread loaf and drop it into the round cast-iron skillet", + "Grab the small loaf-shaped bread and drop it into the iron skillet for frying foods.", + "Use the left arm to grab the bread loaf medium-sized and set it in the black skillet", + "Take the small loaf-shaped bread and put it in the black skillet", + "Grab the bread loaf medium-sized and set it in the round cast-iron skillet", + "Use the left arm to move the soft rectangular bread loaf to the round cast-iron skillet.", + "Grab the small loaf-shaped bread and place it into the iron skillet for frying foods.", + "Pick the small loaf-shaped bread up and place it in the iron skillet for frying foods", + "Move the small loaf-shaped bread to the round cast-iron skillet using the left arm.", + "Grab the small loaf-shaped bread and place it in the iron skillet for frying foods", + "Pick up the small loaf-shaped bread and drop it into the round cast-iron skillet", + "Grab the soft rectangular bread loaf and drop it into the black skillet.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the black skillet", + "Take the small loaf-shaped bread and put it in the iron skillet for frying foods", + "Grab the soft rectangular bread loaf and set it in the iron skillet for frying foods", + "Use the left arm to move the small loaf-shaped bread to the black skillet.", + "Grab the small loaf-shaped bread and place it into the round cast-iron skillet.", + "Pick the soft rectangular bread loaf up and place it in the black skillet", + "Move the soft rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Grab the bread loaf medium-sized and place it in the iron skillet for frying foods", + "Pick up the small loaf-shaped bread and drop it into the iron skillet for frying foods", + "Grab the soft rectangular bread loaf and drop it into the black skillet.", + "Use the left arm to grab the small loaf-shaped bread and set it in the round cast-iron skillet", + "Take the small loaf-shaped bread and put it in the black skillet", + "Grab the small loaf-shaped bread and set it in the black skillet", + "Use the left arm to move the bread loaf medium-sized to the black skillet.", + "Grab the small loaf-shaped bread and place it into the black skillet.", + "Pick the bread loaf medium-sized up and place it in the round cast-iron skillet", + "Move the soft rectangular bread loaf to the black skillet using the left arm.", + "Grab the bread loaf medium-sized and place it in the black skillet", + "Pick up the soft rectangular bread loaf and drop it into the iron skillet for frying foods", + "Grab the soft rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Use the left arm to grab the bread loaf medium-sized and set it in the black skillet", + "Take the small loaf-shaped bread and put it in the round cast-iron skillet", + "Grab the small loaf-shaped bread and set it in the iron skillet for frying foods", + "Use the left arm to move the bread loaf medium-sized to the round cast-iron skillet.", + "Grab the bread loaf medium-sized and place it into the black skillet.", + "Pick the soft rectangular bread loaf up and place it in the black skillet", + "Move the bread loaf medium-sized to the round cast-iron skillet using the left arm.", + "Grab the soft rectangular bread loaf and place it in the iron skillet for frying foods", + "Pick up the soft rectangular bread loaf and drop it into the round cast-iron skillet", + "Grab the small loaf-shaped bread and drop it into the black skillet.", + "Use the left arm to grab the bread loaf medium-sized and set it in the round cast-iron skillet", + "Take the small loaf-shaped bread and put it in the black skillet", + "Grab the soft rectangular bread loaf and set it in the black skillet", + "Use the left arm to move the small loaf-shaped bread to the black skillet.", + "Grab the small loaf-shaped bread and place it into the iron skillet for frying foods.", + "Pick the small loaf-shaped bread up and place it in the iron skillet for frying foods", + "Move the bread loaf medium-sized to the black skillet using the left arm.", + "Grab the small loaf-shaped bread and place it in the iron skillet for frying foods", + "Pick up the soft rectangular bread loaf and drop it into the iron skillet for frying foods", + "Grab the bread loaf medium-sized and drop it into the iron skillet for frying foods.", + "Use the left arm to grab the bread loaf medium-sized and set it in the round cast-iron skillet", + "Take the small loaf-shaped bread and put it in the iron skillet for frying foods", + "Grab the soft rectangular bread loaf and set it in the round cast-iron skillet", + "Use the left arm to move the bread loaf medium-sized to the round cast-iron skillet.", + "Grab the bread loaf medium-sized and place it into the iron skillet for frying foods.", + "Pick the small loaf-shaped bread up and place it in the round cast-iron skillet", + "Move the bread loaf medium-sized to the iron skillet for frying foods using the left arm.", + "Grab the bread loaf medium-sized and place it in the round cast-iron skillet", + "Pick up the bread loaf medium-sized and drop it into the black skillet", + "Grab the bread loaf medium-sized and drop it into the round cast-iron skillet.", + "Use the left arm to grab the small loaf-shaped bread and set it in the iron skillet for frying foods", + "Take the soft rectangular bread loaf and put it in the iron skillet for frying foods", + "Grab the soft rectangular bread loaf and set it in the black skillet", + "Use the left arm to move the soft rectangular bread loaf to the round cast-iron skillet.", + "Grab the small loaf-shaped bread and place it into the black skillet.", + "Pick the soft rectangular bread loaf up and place it in the round cast-iron skillet", + "Move the bread loaf medium-sized to the black skillet using the left arm.", + "Grab the soft rectangular bread loaf and place it in the round cast-iron skillet", + "Pick up the bread loaf medium-sized and drop it into the iron skillet for frying foods", + "Grab the bread loaf medium-sized and drop it into the round cast-iron skillet.", + "Use the left arm to grab the bread loaf medium-sized and set it in the iron skillet for frying foods", + "Take the small loaf-shaped bread and put it in the black skillet", + "Grab the bread loaf medium-sized and set it in the round cast-iron skillet", + "Use the left arm to move the soft rectangular bread loaf to the iron skillet for frying foods." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode23.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..2fb77cbf01fb5986b0be9aa4b6119fa5663d9004 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the bread with rounded corners and transfer it to the black-surfaced skillet with gray sides", + "Take the bread loaf with square shape off the table into the dark gray skillet", + "Grab the bread with firm crust edges with the right arm and place in the black-surfaced skillet with gray sides", + "Pick up the golden bread and place it in the black-surfaced skillet with gray sides.", + "Use the right arm to pick the bread loaf with square shape up for the dark gray skillet", + "Pick the bread loaf with square shape off the table and place it in the smooth non-stick skillet.", + "Move the soft golden baked bread from table into the black-surfaced skillet with gray sides", + "Pick the slice-shaped bread and set it into the skillet with black cooking surface.", + "Use the right arm to pick the soft golden baked bread and put it in the skillet with black cooking surface", + "Grab the bread with golden surface color and stick it in the round skillet with handle.", + "Pick the bread with golden surface color up using the right arm and drop it in the metal skillet with comfortable grip.", + "Take the slice-shaped bread and put it in the metal skillet.", + "Grab the soft golden baked bread and place it inside the black-surfaced skillet with gray sides", + "Take the golden crusted bread slice and place it inside the round skillet with handle", + "Take the rectangular bread soft inside and set it into the round skillet with handle", + "Place the square loaf of bread into the metal skillet using the right arm", + "Use the right arm to lift the square loaf of bread and place it into the skillet with black cooking surface.", + "Use the right arm to grab the soft golden baked bread for the skillet with black cooking surface", + "Take the bread with rounded corners and put it in the dark gray skillet.", + "Move the bread with firm crust edges into the skillet with black cooking surface from the table", + "Set the brown bread loaf into the gray skillet for stovetop cooking after grabbing", + "Use the right arm to take the bread loaf with square shape and move it into the medium-sized frying skillet.", + "Transfer the soft golden baked bread into the flat-bottom skillet from the table", + "Place the golden brown loaf-shaped bread from the table into the round skillet with open handle end", + "Lift the brown bread loaf and drop it into the skillet with black cooking surface", + "Place the slice-shaped bread into the gray skillet for stovetop cooking with the right arm.", + "Pick up the bread with golden surface color and put it in the flat-bottom skillet", + "Put the soft golden baked bread into the black-surfaced skillet with gray sides after grabbing it", + "Use the right arm to set the bread loaf with square shape into the smooth non-stick skillet.", + "Use the right arm to grab the slice-shaped bread and set it in the skillet with black cooking surface.", + "Lift the soft golden baked bread and drop it into the metal skillet.", + "Lift the rectangular bread soft inside using the right arm and move it to the skillet for frying food", + "Take the golden crusted bread slice and drop it into the metal skillet with comfortable grip.", + "Grab the golden brown loaf-shaped bread from the table and set it in the black-surfaced skillet with gray sides.", + "Use the right arm to pick the soft golden baked bread and place it into the black-surfaced skillet with gray sides.", + "Pick up the square loaf of bread with the right arm and drop it in the medium-sized frying skillet", + "Use the right arm to move the bread with rounded corners into the dark gray skillet", + "Use the right arm to place the bread with golden surface color into the metal skillet", + "Grab the golden bread and place it inside the medium-sized frying skillet.", + "Use the right arm to pick the slice-shaped bread for the metal skillet", + "Put the bread with golden surface color into the round skillet with handle.", + "Use the right arm to move the bread with firm crust edges and set it into the metal skillet with comfortable grip.", + "Grab the soft golden baked bread and drop it into the skillet with black cooking surface", + "Grab the golden bread using the right arm and place it in the dark gray skillet", + "Take the golden bread and place it inside the round skillet with handle", + "Move the bread with firm crust edges to the skillet with black cooking surface using the right arm", + "Take the square loaf of bread with the right arm and drop into the round skillet with handle", + "Use the right arm to stick the square loaf of bread into the skillet with black cooking surface.", + "Pick the golden crusted bread slice with the right arm and set it in the dark gray skillet", + "Use the right arm to grab the bread with firm crust edges for the gray skillet for stovetop cooking", + "Pick the bread with firm crust edges and transfer it to the round skillet with open handle end", + "Take the brown bread loaf off the table into the medium-sized frying skillet", + "Grab the soft golden baked bread with the right arm and place in the dark gray skillet", + "Pick up the bread loaf with square shape and place it in the flat-bottom skillet.", + "Use the right arm to pick the bread with rounded corners up for the flat-bottom skillet", + "Pick the bread loaf with square shape off the table and place it in the skillet for frying food.", + "Move the rectangular bread soft inside from table into the dark gray skillet", + "Pick the soft golden baked bread and set it into the black-surfaced skillet with gray sides.", + "Use the right arm to pick the golden crusted bread slice and put it in the gray skillet for stovetop cooking", + "Grab the soft golden baked bread and stick it in the round skillet with open handle end.", + "Pick the soft golden baked bread up using the right arm and drop it in the round skillet with handle.", + "Take the bread with golden surface color and put it in the black-surfaced skillet with gray sides.", + "Grab the golden crusted bread slice and place it inside the round skillet with handle", + "Take the rectangular bread soft inside and place it inside the flat-bottom skillet", + "Take the slice-shaped bread and set it into the smooth non-stick skillet", + "Place the golden crusted bread slice into the flat-bottom skillet using the right arm", + "Use the right arm to lift the rectangular bread soft inside and place it into the round skillet with handle.", + "Use the right arm to grab the bread with rounded corners for the smooth non-stick skillet", + "Take the bread with golden surface color and put it in the round skillet with open handle end.", + "Move the slice-shaped bread into the smooth non-stick skillet from the table", + "Set the soft golden baked bread into the black-surfaced skillet with gray sides after grabbing", + "Use the right arm to take the square loaf of bread and move it into the smooth non-stick skillet.", + "Transfer the bread loaf with square shape into the round skillet with open handle end from the table", + "Place the golden bread from the table into the dark gray skillet", + "Lift the golden crusted bread slice and drop it into the skillet for frying food", + "Place the golden bread into the metal skillet with comfortable grip with the right arm.", + "Pick up the soft golden baked bread and put it in the gray skillet for stovetop cooking", + "Put the golden bread into the smooth non-stick skillet after grabbing it", + "Use the right arm to set the bread with firm crust edges into the medium-sized frying skillet.", + "Use the right arm to grab the brown bread loaf and set it in the gray skillet for stovetop cooking.", + "Lift the bread with firm crust edges and drop it into the flat-bottom skillet.", + "Lift the square loaf of bread using the right arm and move it to the metal skillet", + "Take the bread loaf with square shape and drop it into the dark gray skillet.", + "Grab the golden brown loaf-shaped bread from the table and set it in the skillet for frying food.", + "Use the right arm to pick the rectangular bread soft inside and place it into the skillet with black cooking surface.", + "Pick up the square loaf of bread with the right arm and drop it in the metal skillet", + "Use the right arm to move the bread loaf with square shape into the skillet with black cooking surface", + "Use the right arm to place the brown bread loaf into the medium-sized frying skillet", + "Grab the square loaf of bread and place it inside the flat-bottom skillet.", + "Use the right arm to pick the golden bread for the flat-bottom skillet", + "Put the rectangular bread soft inside into the round skillet with open handle end.", + "Use the right arm to move the bread with rounded corners and set it into the gray skillet for stovetop cooking.", + "Grab the golden brown loaf-shaped bread and drop it into the dark gray skillet", + "Grab the bread loaf with square shape using the right arm and place it in the medium-sized frying skillet", + "Take the soft golden baked bread and place it inside the round skillet with handle", + "Move the golden crusted bread slice to the skillet with black cooking surface using the right arm", + "Take the golden crusted bread slice with the right arm and drop into the dark gray skillet", + "Use the right arm to stick the soft golden baked bread into the metal skillet with comfortable grip.", + "Pick the brown bread loaf with the right arm and set it in the gray skillet for stovetop cooking", + "Use the right arm to grab the bread with firm crust edges for the smooth non-stick skillet" + ], + "unseen": [ + "Pick up the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing.", + "Take the bread loaf medium-sized and put it in the pan-shaped skillet with hole in handle", + "Move the bread loaf medium-sized to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Pick the soft rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Pick up the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing.", + "Take the bread loaf medium-sized and put it in the pan-shaped skillet with hole in handle", + "Move the small loaf-shaped bread to the dark skillet with shiny finish using the right arm.", + "Grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Pick the soft rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Use the right arm to move the bread loaf medium-sized to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick up the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and place it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it into the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Take the soft rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Move the bread loaf medium-sized to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Pick the bread loaf medium-sized up and place it in the dark skillet with shiny finish", + "Use the right arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Pick up the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and place it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it into the versatile skillet for frying and sauteing.", + "Grab the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle.", + "Take the bread loaf medium-sized and put it in the dark skillet with shiny finish", + "Move the bread loaf medium-sized to the dark skillet with shiny finish using the right arm.", + "Grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Pick the soft rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread loaf medium-sized to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle.", + "Take the bread loaf medium-sized and put it in the versatile skillet for frying and sauteing", + "Move the bread loaf medium-sized to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Pick the soft rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Use the right arm to move the bread loaf medium-sized to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf medium-sized and drop it into the dark skillet with shiny finish.", + "Take the bread loaf medium-sized and put it in the dark skillet with shiny finish", + "Move the small loaf-shaped bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Pick the bread loaf medium-sized up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the small loaf-shaped bread to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick up the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle.", + "Take the soft rectangular bread loaf and put it in the dark skillet with shiny finish", + "Move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Pick the bread loaf medium-sized up and place it in the dark skillet with shiny finish", + "Use the right arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Pick up the small loaf-shaped bread and drop it into the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Take the soft rectangular bread loaf and put it in the dark skillet with shiny finish", + "Move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick the bread loaf medium-sized up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the small loaf-shaped bread to the dark skillet with shiny finish.", + "Use the right arm to grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and place it into the pan-shaped skillet with hole in handle.", + "Grab the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Take the soft rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Move the soft rectangular bread loaf to the dark skillet with shiny finish using the right arm.", + "Grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Pick the soft rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the soft rectangular bread loaf to the dark skillet with shiny finish.", + "Use the right arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Pick up the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and place it into the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing.", + "Take the bread loaf medium-sized and put it in the pan-shaped skillet with hole in handle", + "Move the soft rectangular bread loaf to the dark skillet with shiny finish using the right arm.", + "Grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Pick the small loaf-shaped bread up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the small loaf-shaped bread to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode24.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..0b383ab6f282cd08fb8f0099b283060e799d7306 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the smooth loaf with rounded edges using the left arm and move it to the round cooking pan", + "Pick up the light brown loaf with smooth sides with the left arm and drop it in the round pan with hole in handle", + "Grab the small golden brown bread and drop it into the solid dark-colored round pan", + "Use the left arm to pick the soft brown bread up for the versatile skillet for stovetop cooking", + "Pick up the small golden brown bread and put it in the versatile skillet for stovetop cooking", + "Grab the bread with golden-brown crust and stick it in the round pan with hole in handle.", + "Lift the small golden brown bread and drop it into the versatile skillet for stovetop cooking", + "Transfer the light brown bread with ridges into the solid dark-colored round pan from the table", + "Take the small golden brown bread and drop it into the solid dark-colored round pan.", + "Use the left arm to grab the light brown bread with ridges for the versatile skillet for stovetop cooking", + "Grab the small golden brown bread and place it inside the versatile skillet for stovetop cooking", + "Take the light brown loaf with smooth sides and put it in the black pan with curved edges.", + "Use the left arm to set the golden bread loaf into the flat-bottomed skillet with long handle.", + "Grab the small golden brown bread from the table and set it in the heavy black cooking skillet.", + "Pick the bread with warm golden color and set it into the black skillet with smooth base.", + "Move the smooth loaf with rounded edges into the smooth round pan made of iron from the table", + "Take the light brown loaf with smooth sides and set it into the heavy black cooking skillet", + "Use the left arm to pick the brown loaf and place it into the smooth round pan made of iron.", + "Use the left arm to take the bread with split top and move it into the medium black pan with handle.", + "Use the left arm to lift the brown loaf and place it into the heavy black cooking skillet.", + "Grab the hand-sized oval loaf with the left arm and place in the medium black pan with handle", + "Use the left arm to stick the bread with golden-brown crust into the skillet with extended grip handle.", + "Take the hand-sized oval loaf and place it inside the smooth round pan made of iron", + "Move the soft brown bread from table into the round pan with hole in handle", + "Use the left arm to move the light brown bread with ridges and set it into the dark pan with sturdy grip.", + "Pick the bread with golden-brown crust off the table and place it in the heavy black cooking skillet.", + "Pick the brown loaf with the left arm and set it in the dark pan with sturdy grip", + "Put the soft brown bread into the smooth round pan made of iron after grabbing it", + "Place the soft brown bread into the skillet with extended grip handle using the left arm", + "Use the left arm to place the bread with split top into the skillet with extended grip handle", + "Use the left arm to pick the bread with warm golden color and put it in the medium black pan with handle", + "Place the golden bread loaf into the black skillet with smooth base with the left arm.", + "Move the bread with warm golden color to the skillet with extended grip handle using the left arm", + "Pick the hand-sized oval loaf up using the left arm and drop it in the medium black pan with handle.", + "Pick the smooth loaf with rounded edges and transfer it to the medium black pan with handle", + "Take the bread with golden-brown crust and place it inside the black pan with curved edges", + "Grab the small loaf with curved top and place it inside the heavy black cooking skillet.", + "Take the light brown loaf with smooth sides off the table into the skillet with extended grip handle", + "Put the smooth loaf with rounded edges into the smooth round pan made of iron.", + "Place the bread with warm golden color from the table into the flat-bottomed skillet with long handle", + "Use the left arm to grab the brown loaf and set it in the dark pan with sturdy grip.", + "Take the small loaf with curved top with the left arm and drop into the round pan with hole in handle", + "Pick up the smooth loaf with rounded edges and place it in the versatile skillet for stovetop cooking.", + "Lift the soft brown bread and drop it into the versatile skillet for stovetop cooking.", + "Use the left arm to pick the small golden brown bread for the heavy black cooking skillet", + "Grab the brown loaf using the left arm and place it in the solid dark-colored round pan", + "Take the bread with split top and put it in the skillet with extended grip handle.", + "Use the left arm to move the small golden brown bread into the dark pan with sturdy grip", + "Use the left arm to grab the smooth loaf with rounded edges for the skillet with extended grip handle", + "Set the small golden brown bread into the flat-bottomed skillet with long handle after grabbing", + "Lift the light brown bread with ridges using the left arm and move it to the skillet with extended grip handle", + "Pick up the small loaf with curved top with the left arm and drop it in the heavy black cooking skillet", + "Grab the small golden brown bread and drop it into the black pan with curved edges", + "Use the left arm to pick the hand-sized oval loaf up for the solid dark-colored round pan", + "Pick up the soft brown bread and put it in the medium black pan with handle", + "Grab the bread with split top and stick it in the skillet with extended grip handle.", + "Lift the small golden brown bread and drop it into the medium black pan with handle", + "Transfer the light brown loaf with smooth sides into the flat-bottomed skillet with long handle from the table", + "Take the soft brown bread and drop it into the round pan with hole in handle.", + "Use the left arm to grab the small golden brown bread for the black pan with curved edges", + "Grab the golden bread loaf and place it inside the smooth round pan made of iron", + "Take the golden bread loaf and put it in the smooth round pan made of iron.", + "Use the left arm to set the soft brown bread into the smooth round pan made of iron.", + "Grab the smooth loaf with rounded edges from the table and set it in the smooth round pan made of iron.", + "Pick the small loaf with curved top and set it into the solid dark-colored round pan.", + "Move the light brown loaf with smooth sides into the smooth round pan made of iron from the table", + "Take the bread with golden-brown crust and set it into the heavy black cooking skillet", + "Use the left arm to pick the bread with split top and place it into the dark pan with sturdy grip.", + "Use the left arm to take the light brown bread with ridges and move it into the black skillet with smooth base.", + "Use the left arm to lift the brown loaf and place it into the dark pan with sturdy grip.", + "Grab the golden bread loaf with the left arm and place in the round cooking pan", + "Use the left arm to stick the smooth loaf with rounded edges into the skillet with extended grip handle.", + "Take the hand-sized oval loaf and place it inside the medium black pan with handle", + "Move the light brown bread with ridges from table into the heavy black cooking skillet", + "Use the left arm to move the hand-sized oval loaf and set it into the solid dark-colored round pan.", + "Pick the hand-sized oval loaf off the table and place it in the skillet with extended grip handle.", + "Pick the bread with split top with the left arm and set it in the black skillet with smooth base", + "Put the bread with warm golden color into the medium black pan with handle after grabbing it", + "Place the light brown loaf with smooth sides into the versatile skillet for stovetop cooking using the left arm", + "Use the left arm to place the light brown bread with ridges into the smooth round pan made of iron", + "Use the left arm to pick the smooth loaf with rounded edges and put it in the skillet with extended grip handle", + "Place the bread with warm golden color into the black pan with curved edges with the left arm.", + "Move the smooth loaf with rounded edges to the round pan with hole in handle using the left arm", + "Pick the soft brown bread up using the left arm and drop it in the black skillet with smooth base.", + "Pick the soft brown bread and transfer it to the flat-bottomed skillet with long handle", + "Take the bread with split top and place it inside the black pan with curved edges", + "Grab the bread with warm golden color and place it inside the heavy black cooking skillet.", + "Take the hand-sized oval loaf off the table into the smooth round pan made of iron", + "Put the light brown loaf with smooth sides into the solid dark-colored round pan.", + "Place the golden bread loaf from the table into the skillet with extended grip handle", + "Use the left arm to grab the hand-sized oval loaf and set it in the versatile skillet for stovetop cooking.", + "Take the small loaf with curved top with the left arm and drop into the solid dark-colored round pan", + "Pick up the hand-sized oval loaf and place it in the black skillet with smooth base.", + "Lift the light brown loaf with smooth sides and drop it into the skillet with extended grip handle.", + "Use the left arm to pick the brown loaf for the solid dark-colored round pan", + "Grab the bread with warm golden color using the left arm and place it in the round cooking pan", + "Take the small golden brown bread and put it in the dark pan with sturdy grip.", + "Use the left arm to move the bread with split top into the medium black pan with handle", + "Use the left arm to grab the bread with warm golden color for the heavy black cooking skillet", + "Set the golden bread loaf into the round pan with hole in handle after grabbing" + ], + "unseen": [ + "Use the left arm to move the rounded oval bread to the iron skillet for frying foods.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Use the left arm to grab the oval bread and set it in the round cast-iron skillet", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Move the oval bread to the round cast-iron skillet using the left arm.", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Use the left arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Pick the oval bread up and place it in the black skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Use the left arm to grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval bread and place it in the black skillet", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Move the rounded oval bread to the black skillet using the left arm.", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the black skillet.", + "Use the left arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Use the left arm to grab the oval bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and place it in the black skillet", + "Grab the oval bread and set it in the black skillet", + "Take the oval bread and put it in the black skillet", + "Move the oval bread to the black skillet using the left arm.", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Use the left arm to move the rounded oval bread to the round cast-iron skillet.", + "Pick the rounded oval bread up and place it in the black skillet", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Use the left arm to grab the oval bread and set it in the black skillet", + "Grab the oval bread and place it in the black skillet", + "Grab the oval bread and set it in the round cast-iron skillet", + "Take the rounded oval bread and put it in the black skillet", + "Move the oval bread to the round cast-iron skillet using the left arm.", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Grab the oval bread and drop it into the black skillet.", + "Use the left arm to move the oval-shaped soft bread to the black skillet.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Grab the rounded oval bread and place it into the black skillet.", + "Use the left arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Grab the rounded oval bread and set it in the black skillet", + "Take the oval-shaped soft bread and put it in the black skillet", + "Move the oval bread to the black skillet using the left arm.", + "Pick up the oval bread and drop it into the black skillet", + "Grab the oval bread and drop it into the black skillet.", + "Use the left arm to move the rounded oval bread to the iron skillet for frying foods.", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Use the left arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the oval bread and set it in the round cast-iron skillet", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Move the oval-shaped soft bread to the round cast-iron skillet using the left arm.", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Use the left arm to move the oval bread to the round cast-iron skillet.", + "Pick the rounded oval bread up and place it in the black skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Use the left arm to grab the oval bread and set it in the black skillet", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Take the oval bread and put it in the iron skillet for frying foods", + "Move the rounded oval bread to the black skillet using the left arm.", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Use the left arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Use the left arm to grab the oval bread and set it in the black skillet", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Take the oval-shaped soft bread and put it in the black skillet", + "Move the rounded oval bread to the round cast-iron skillet using the left arm.", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Use the left arm to move the oval-shaped soft bread to the black skillet.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Use the left arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Move the oval bread to the round cast-iron skillet using the left arm.", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Use the left arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Pick the oval bread up and place it in the black skillet", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Use the left arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Take the rounded oval bread and put it in the black skillet", + "Move the oval-shaped soft bread to the black skillet using the left arm.", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Grab the oval bread and drop it into the black skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode25.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..20022994aa1430ffc8ac0a8bba0a27aa36e409c4 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the medium-sized bread piece from table into the gray skillet for stovetop cooking", + "Use the right arm to move the sponge-textured golden bread into the metal skillet", + "Take the medium bread with rounded sides and place it inside the flat-bottom skillet", + "Move the rounded square loaf into the round skillet with open handle end from the table", + "Use the right arm to set the bread with rounded edges into the metal skillet.", + "Grab the medium-sized bread piece with the right arm and place in the round skillet with open handle end", + "Grab the bread with rounded edges using the right arm and place it in the black-surfaced skillet with gray sides", + "Use the right arm to take the sponge-textured golden bread and move it into the flat-bottom skillet.", + "Use the right arm to stick the medium-sized bread piece into the metal skillet with comfortable grip.", + "Place the medium-sized bread piece into the flat-bottom skillet using the right arm", + "Pick the light brown porous bread and transfer it to the black-surfaced skillet with gray sides", + "Put the rounded square loaf into the gray skillet for stovetop cooking after grabbing it", + "Place the medium bread with rounded sides into the skillet with black cooking surface with the right arm.", + "Take the medium-sized bread piece and put it in the medium-sized frying skillet.", + "Pick up the soft square bread with the right arm and drop it in the dark gray skillet", + "Use the right arm to pick the rounded square loaf and put it in the metal skillet", + "Pick the golden baked bread off the table and place it in the skillet with black cooking surface.", + "Lift the rounded square loaf and drop it into the medium-sized frying skillet.", + "Take the golden baked bread off the table into the round skillet with handle", + "Grab the rounded square loaf and place it inside the flat-bottom skillet.", + "Lift the soft square bread and drop it into the metal skillet", + "Move the rounded square loaf to the smooth non-stick skillet using the right arm", + "Use the right arm to grab the bread with soft texture for the metal skillet with comfortable grip", + "Use the right arm to move the square-shaped bread piece and set it into the round skillet with open handle end.", + "Pick the square-shaped bread piece with the right arm and set it in the dark gray skillet", + "Use the right arm to pick the rounded square loaf up for the round skillet with open handle end", + "Take the rounded square loaf and drop it into the metal skillet.", + "Grab the soft square bread and drop it into the metal skillet", + "Set the soft square bread into the dark gray skillet after grabbing", + "Use the right arm to pick the light brown porous bread and place it into the black-surfaced skillet with gray sides.", + "Take the soft square bread with the right arm and drop into the black-surfaced skillet with gray sides", + "Use the right arm to lift the bread with rounded edges and place it into the metal skillet with comfortable grip.", + "Take the fluffy baked bread and place it inside the skillet with black cooking surface", + "Grab the soft square bread and place it inside the round skillet with open handle end", + "Pick up the fluffy baked bread and put it in the gray skillet for stovetop cooking", + "Place the sponge-textured golden bread from the table into the metal skillet with comfortable grip", + "Pick the medium-sized bread piece and set it into the metal skillet with comfortable grip.", + "Pick the medium bread with rounded sides up using the right arm and drop it in the flat-bottom skillet.", + "Lift the rounded square loaf using the right arm and move it to the smooth non-stick skillet", + "Take the rounded square loaf and put it in the skillet for frying food.", + "Use the right arm to pick the rounded square loaf for the black-surfaced skillet with gray sides", + "Take the light brown porous bread and set it into the skillet for frying food", + "Use the right arm to grab the square-shaped bread piece for the smooth non-stick skillet", + "Grab the rounded square loaf from the table and set it in the metal skillet with comfortable grip.", + "Grab the sponge-textured golden bread and stick it in the black-surfaced skillet with gray sides.", + "Transfer the sponge-textured golden bread into the medium-sized frying skillet from the table", + "Use the right arm to grab the golden brown bread and set it in the skillet with black cooking surface.", + "Pick up the bread with soft texture and place it in the medium-sized frying skillet.", + "Use the right arm to place the fluffy baked bread into the round skillet with handle", + "Put the golden brown bread into the metal skillet with comfortable grip.", + "Move the medium bread with rounded sides from table into the metal skillet", + "Use the right arm to move the fluffy baked bread into the black-surfaced skillet with gray sides", + "Take the medium bread with rounded sides and place it inside the flat-bottom skillet", + "Move the bread with soft texture into the metal skillet from the table", + "Use the right arm to set the medium-sized bread piece into the black-surfaced skillet with gray sides.", + "Grab the bread with rounded edges with the right arm and place in the gray skillet for stovetop cooking", + "Grab the bread with soft texture using the right arm and place it in the skillet for frying food", + "Use the right arm to take the bread with soft texture and move it into the metal skillet with comfortable grip.", + "Use the right arm to stick the sponge-textured golden bread into the flat-bottom skillet.", + "Place the golden brown bread into the dark gray skillet using the right arm", + "Pick the fluffy baked bread and transfer it to the round skillet with open handle end", + "Put the golden baked bread into the skillet for frying food after grabbing it", + "Place the medium-sized bread piece into the black-surfaced skillet with gray sides with the right arm.", + "Take the light brown porous bread and put it in the smooth non-stick skillet.", + "Pick up the bread with rounded edges with the right arm and drop it in the flat-bottom skillet", + "Use the right arm to pick the medium-sized bread piece and put it in the round skillet with open handle end", + "Pick the light brown porous bread off the table and place it in the round skillet with handle.", + "Lift the medium-sized bread piece and drop it into the skillet with black cooking surface.", + "Take the golden brown bread off the table into the medium-sized frying skillet", + "Grab the golden brown bread and place it inside the skillet with black cooking surface.", + "Lift the medium bread with rounded sides and drop it into the skillet for frying food", + "Move the medium-sized bread piece to the metal skillet using the right arm", + "Use the right arm to grab the sponge-textured golden bread for the skillet with black cooking surface", + "Use the right arm to move the bread with soft texture and set it into the gray skillet for stovetop cooking.", + "Pick the soft square bread with the right arm and set it in the round skillet with open handle end", + "Use the right arm to pick the medium bread with rounded sides up for the medium-sized frying skillet", + "Take the soft square bread and drop it into the metal skillet with comfortable grip.", + "Grab the sponge-textured golden bread and drop it into the skillet for frying food", + "Set the medium-sized bread piece into the black-surfaced skillet with gray sides after grabbing", + "Use the right arm to pick the bread with rounded edges and place it into the metal skillet.", + "Take the golden brown bread with the right arm and drop into the round skillet with handle", + "Use the right arm to lift the bread with soft texture and place it into the skillet with black cooking surface.", + "Take the rounded square loaf and place it inside the dark gray skillet", + "Grab the soft square bread and place it inside the flat-bottom skillet", + "Pick up the bread with rounded edges and put it in the medium-sized frying skillet", + "Place the bread with rounded edges from the table into the medium-sized frying skillet", + "Pick the light brown porous bread and set it into the skillet with black cooking surface.", + "Pick the golden baked bread up using the right arm and drop it in the smooth non-stick skillet.", + "Lift the square-shaped bread piece using the right arm and move it to the black-surfaced skillet with gray sides", + "Take the sponge-textured golden bread and put it in the metal skillet.", + "Use the right arm to pick the golden baked bread for the skillet with black cooking surface", + "Take the bread with soft texture and set it into the medium-sized frying skillet", + "Use the right arm to grab the soft square bread for the black-surfaced skillet with gray sides", + "Grab the sponge-textured golden bread from the table and set it in the black-surfaced skillet with gray sides.", + "Grab the golden baked bread and stick it in the round skillet with open handle end.", + "Transfer the bread with soft texture into the black-surfaced skillet with gray sides from the table", + "Use the right arm to grab the rounded square loaf and set it in the round skillet with open handle end.", + "Pick up the bread with soft texture and place it in the metal skillet.", + "Use the right arm to place the bread with soft texture into the black-surfaced skillet with gray sides", + "Put the bread with rounded edges into the smooth non-stick skillet." + ], + "unseen": [ + "Grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the right arm.", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Pick the soft bread with golden edges up and place it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Use the right arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the versatile skillet for frying and sauteing using the right arm.", + "Grab the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing.", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the spongy golden brown bread to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Move the square bread with light spots to the versatile skillet for frying and sauteing using the right arm.", + "Grab the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing.", + "Pick up the square bread with light spots and drop it into the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Pick the square bread with light spots up and place it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the right arm.", + "Grab the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing.", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Move the square bread with light spots to the dark skillet with shiny finish using the right arm.", + "Grab the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing.", + "Pick up the square bread with light spots and drop it into the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it in the pan-shaped skillet with hole in handle", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the versatile skillet for frying and sauteing.", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Move the square bread with light spots to the dark skillet with shiny finish using the right arm.", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Use the right arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Take the spongy golden brown bread and put it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Pick up the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Pick the square bread with light spots up and place it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Use the right arm to move the spongy golden brown bread to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Move the soft bread with golden edges to the dark skillet with shiny finish using the right arm.", + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Pick up the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Use the right arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Move the square bread with light spots to the versatile skillet for frying and sauteing using the right arm.", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Pick the square bread with light spots up and place it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Pick up the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode26.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..148f25b2c6e1ecee7fcee394531339d156a82501 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the small loaf with curved top and stick it in the heavy black cooking skillet.", + "Place the small loaf with curved top into the smooth round pan made of iron using the right arm", + "Use the right arm to pick the golden bread loaf up for the versatile skillet for stovetop cooking", + "Use the right arm to move the bread with split top into the skillet with extended grip handle", + "Pick the smooth loaf with rounded edges off the table and place it in the black skillet with smooth base.", + "Take the small golden brown bread and put it in the smooth round pan made of iron.", + "Take the hand-sized oval loaf and place it inside the smooth round pan made of iron", + "Transfer the soft brown bread into the flat-bottomed skillet with long handle from the table", + "Use the right arm to grab the bread with golden-brown crust for the skillet with extended grip handle", + "Take the soft brown bread and set it into the heavy black cooking skillet", + "Take the light brown loaf with smooth sides and put it in the medium black pan with handle.", + "Use the right arm to stick the bread with warm golden color into the solid dark-colored round pan.", + "Take the bread with warm golden color with the right arm and drop into the dark pan with sturdy grip", + "Put the smooth loaf with rounded edges into the heavy black cooking skillet.", + "Grab the small golden brown bread with the right arm and place in the medium black pan with handle", + "Grab the bread with warm golden color and place it inside the medium black pan with handle.", + "Set the small golden brown bread into the round pan with hole in handle after grabbing", + "Use the right arm to pick the small loaf with curved top and place it into the round pan with hole in handle.", + "Use the right arm to grab the light brown bread with ridges for the flat-bottomed skillet with long handle", + "Lift the soft brown bread using the right arm and move it to the round pan with hole in handle", + "Pick up the small golden brown bread and place it in the versatile skillet for stovetop cooking.", + "Grab the small golden brown bread using the right arm and place it in the skillet with extended grip handle", + "Use the right arm to pick the light brown loaf with smooth sides and put it in the round cooking pan", + "Grab the hand-sized oval loaf and place it inside the flat-bottomed skillet with long handle", + "Use the right arm to grab the light brown loaf with smooth sides and set it in the round pan with hole in handle.", + "Use the right arm to pick the brown loaf for the black pan with curved edges", + "Grab the small loaf with curved top and drop it into the solid dark-colored round pan", + "Take the soft brown bread and drop it into the skillet with extended grip handle.", + "Use the right arm to lift the bread with split top and place it into the flat-bottomed skillet with long handle.", + "Put the bread with golden-brown crust into the round cooking pan after grabbing it", + "Pick up the small loaf with curved top and put it in the skillet with extended grip handle", + "Place the small loaf with curved top from the table into the flat-bottomed skillet with long handle", + "Pick the golden bread loaf and transfer it to the dark pan with sturdy grip", + "Pick up the small golden brown bread with the right arm and drop it in the dark pan with sturdy grip", + "Move the small loaf with curved top from table into the flat-bottomed skillet with long handle", + "Lift the soft brown bread and drop it into the solid dark-colored round pan.", + "Take the light brown bread with ridges off the table into the heavy black cooking skillet", + "Take the brown loaf and place it inside the flat-bottomed skillet with long handle", + "Move the small loaf with curved top to the round pan with hole in handle using the right arm", + "Move the brown loaf into the flat-bottomed skillet with long handle from the table", + "Use the right arm to set the bread with split top into the solid dark-colored round pan.", + "Use the right arm to take the light brown loaf with smooth sides and move it into the skillet with extended grip handle.", + "Place the bread with split top into the heavy black cooking skillet with the right arm.", + "Use the right arm to move the light brown bread with ridges and set it into the round cooking pan.", + "Pick the smooth loaf with rounded edges and set it into the skillet with extended grip handle.", + "Use the right arm to place the soft brown bread into the medium black pan with handle", + "Pick the small loaf with curved top with the right arm and set it in the smooth round pan made of iron", + "Pick the hand-sized oval loaf up using the right arm and drop it in the medium black pan with handle.", + "Lift the soft brown bread and drop it into the black pan with curved edges", + "Grab the golden bread loaf from the table and set it in the medium black pan with handle.", + "Grab the soft brown bread and stick it in the versatile skillet for stovetop cooking.", + "Place the smooth loaf with rounded edges into the heavy black cooking skillet using the right arm", + "Use the right arm to pick the bread with split top up for the round cooking pan", + "Use the right arm to move the smooth loaf with rounded edges into the versatile skillet for stovetop cooking", + "Pick the hand-sized oval loaf off the table and place it in the versatile skillet for stovetop cooking.", + "Take the light brown bread with ridges and put it in the heavy black cooking skillet.", + "Take the soft brown bread and place it inside the dark pan with sturdy grip", + "Transfer the small loaf with curved top into the medium black pan with handle from the table", + "Use the right arm to grab the golden bread loaf for the black pan with curved edges", + "Take the small golden brown bread and set it into the smooth round pan made of iron", + "Take the hand-sized oval loaf and put it in the versatile skillet for stovetop cooking.", + "Use the right arm to stick the small golden brown bread into the round cooking pan.", + "Take the light brown loaf with smooth sides with the right arm and drop into the skillet with extended grip handle", + "Put the soft brown bread into the black skillet with smooth base.", + "Grab the bread with split top with the right arm and place in the medium black pan with handle", + "Grab the light brown bread with ridges and place it inside the smooth round pan made of iron.", + "Set the bread with split top into the black pan with curved edges after grabbing", + "Use the right arm to pick the small golden brown bread and place it into the round pan with hole in handle.", + "Use the right arm to grab the smooth loaf with rounded edges for the solid dark-colored round pan", + "Lift the small loaf with curved top using the right arm and move it to the versatile skillet for stovetop cooking", + "Pick up the bread with warm golden color and place it in the solid dark-colored round pan.", + "Grab the bread with split top using the right arm and place it in the black pan with curved edges", + "Use the right arm to pick the golden bread loaf and put it in the skillet with extended grip handle", + "Grab the bread with golden-brown crust and place it inside the medium black pan with handle", + "Use the right arm to grab the smooth loaf with rounded edges and set it in the flat-bottomed skillet with long handle.", + "Use the right arm to pick the bread with golden-brown crust for the dark pan with sturdy grip", + "Grab the bread with warm golden color and drop it into the dark pan with sturdy grip", + "Take the hand-sized oval loaf and drop it into the round pan with hole in handle.", + "Use the right arm to lift the hand-sized oval loaf and place it into the black pan with curved edges.", + "Put the smooth loaf with rounded edges into the dark pan with sturdy grip after grabbing it", + "Pick up the smooth loaf with rounded edges and put it in the medium black pan with handle", + "Place the golden bread loaf from the table into the black skillet with smooth base", + "Pick the smooth loaf with rounded edges and transfer it to the dark pan with sturdy grip", + "Pick up the soft brown bread with the right arm and drop it in the black skillet with smooth base", + "Move the light brown bread with ridges from table into the black skillet with smooth base", + "Lift the light brown loaf with smooth sides and drop it into the dark pan with sturdy grip.", + "Take the bread with warm golden color off the table into the black skillet with smooth base", + "Take the brown loaf and place it inside the black pan with curved edges", + "Move the soft brown bread to the flat-bottomed skillet with long handle using the right arm", + "Move the bread with warm golden color into the smooth round pan made of iron from the table", + "Use the right arm to set the hand-sized oval loaf into the dark pan with sturdy grip.", + "Use the right arm to take the small loaf with curved top and move it into the smooth round pan made of iron.", + "Place the light brown bread with ridges into the skillet with extended grip handle with the right arm.", + "Use the right arm to move the bread with warm golden color and set it into the solid dark-colored round pan.", + "Pick the bread with warm golden color and set it into the medium black pan with handle.", + "Use the right arm to place the brown loaf into the skillet with extended grip handle", + "Pick the small loaf with curved top with the right arm and set it in the smooth round pan made of iron", + "Pick the smooth loaf with rounded edges up using the right arm and drop it in the medium black pan with handle.", + "Lift the bread with split top and drop it into the round pan with hole in handle", + "Grab the bread with golden-brown crust from the table and set it in the smooth round pan made of iron." + ], + "unseen": [ + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Move the oval bread to the black skillet using the right arm.", + "Take the rounded oval bread and put it in the black skillet", + "Grab the oval bread and drop it into the black skillet.", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Grab the oval bread and place it into the black skillet.", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Grab the oval bread and set it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the oval bread and place it in the black skillet", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the black skillet", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Take the oval-shaped soft bread and put it in the black skillet", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the black skillet", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Use the right arm to move the oval bread to the black skillet.", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Take the rounded oval bread and put it in the black skillet", + "Grab the oval bread and drop it into the black skillet.", + "Grab the oval bread and set it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Move the oval bread to the round cast-iron skillet using the right arm.", + "Take the rounded oval bread and put it in the black skillet", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Take the oval bread and put it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Pick up the oval bread and drop it into the black skillet", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Pick the oval bread up and place it in the black skillet", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Use the right arm to move the oval bread to the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Move the rounded oval bread to the black skillet using the right arm.", + "Take the oval bread and put it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Use the right arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Move the oval bread to the black skillet using the right arm.", + "Take the oval bread and put it in the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Grab the oval bread and set it in the black skillet", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Grab the rounded oval bread and place it in the black skillet", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Move the rounded oval bread to the black skillet using the right arm.", + "Take the rounded oval bread and put it in the black skillet", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Grab the rounded oval bread and set it in the black skillet", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Use the right arm to move the oval bread to the iron skillet for frying foods." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode27.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..a5a7c9eefb850ed18ca374d44476d8ec7d201b72 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the bread block with light patches for the skillet for frying food", + "Place the bread loaf with uneven edges into the medium-sized frying skillet with the left arm.", + "Lift the golden bread and drop it into the flat-bottom skillet", + "Grab the bread loaf with bumpy surface from the table and set it in the dark gray skillet.", + "Take the light golden brown bread and put it in the flat-bottom skillet.", + "Transfer the square-shaped bread into the black-surfaced skillet with gray sides from the table", + "Take the cuboid bread and put it in the skillet with black cooking surface.", + "Pick the soft bread and transfer it to the smooth non-stick skillet", + "Lift the golden bread loaf using the left arm and move it to the gray skillet for stovetop cooking", + "Move the doughy and soft bread from table into the round skillet with open handle end", + "Use the left arm to grab the bread loaf with bumpy surface and set it in the round skillet with handle.", + "Use the left arm to move the bread block with light patches into the flat-bottom skillet", + "Pick up the doughy and soft bread with the left arm and drop it in the smooth non-stick skillet", + "Put the bread loaf with uneven edges into the round skillet with open handle end after grabbing it", + "Pick the soft bread with the left arm and set it in the flat-bottom skillet", + "Take the golden bread off the table into the flat-bottom skillet", + "Grab the golden bread loaf and drop it into the skillet for frying food", + "Grab the bread block with light patches and place it inside the dark gray skillet", + "Use the left arm to lift the bread with rough texture and place it into the gray skillet for stovetop cooking.", + "Take the golden bread and place it inside the metal skillet", + "Take the soft bread and drop it into the dark gray skillet.", + "Pick up the hand-sized bread block and place it in the smooth non-stick skillet.", + "Use the left arm to move the light golden brown bread and set it into the skillet for frying food.", + "Grab the bread loaf with uneven edges and place it inside the gray skillet for stovetop cooking.", + "Use the left arm to stick the golden bread into the dark gray skillet.", + "Grab the soft bread and stick it in the skillet with black cooking surface.", + "Use the left arm to set the cuboid bread into the metal skillet.", + "Take the cuboid bread and place it inside the flat-bottom skillet", + "Set the doughy and soft bread into the round skillet with handle after grabbing", + "Move the bread block with light patches into the medium-sized frying skillet from the table", + "Grab the doughy and soft bread using the left arm and place it in the medium-sized frying skillet", + "Use the left arm to grab the bread with rough texture for the round skillet with open handle end", + "Use the left arm to pick the bread with rough texture up for the dark gray skillet", + "Place the cuboid bread into the skillet for frying food using the left arm", + "Use the left arm to pick the bread block with light patches and place it into the gray skillet for stovetop cooking.", + "Put the golden bread loaf into the smooth non-stick skillet.", + "Use the left arm to pick the square-shaped bread and put it in the black-surfaced skillet with gray sides", + "Pick the light golden brown bread up using the left arm and drop it in the round skillet with open handle end.", + "Lift the doughy and soft bread and drop it into the dark gray skillet.", + "Use the left arm to place the cuboid bread into the flat-bottom skillet", + "Take the bread loaf with uneven edges and set it into the smooth non-stick skillet", + "Pick the golden bread loaf and set it into the flat-bottom skillet.", + "Move the hand-sized bread block to the metal skillet using the left arm", + "Grab the bread loaf with uneven edges with the left arm and place in the medium-sized frying skillet", + "Pick up the cuboid bread and put it in the smooth non-stick skillet", + "Use the left arm to pick the bread with rough texture for the metal skillet", + "Place the bread with rough texture from the table into the skillet with black cooking surface", + "Pick the golden bread loaf off the table and place it in the smooth non-stick skillet.", + "Use the left arm to take the golden bread and move it into the round skillet with open handle end.", + "Take the bread with rough texture with the left arm and drop into the round skillet with handle", + "Use the left arm to grab the bread loaf with uneven edges for the metal skillet", + "Place the bread block with light patches into the flat-bottom skillet with the left arm.", + "Lift the golden bread loaf and drop it into the round skillet with open handle end", + "Grab the bread loaf with bumpy surface from the table and set it in the gray skillet for stovetop cooking.", + "Take the bread with rough texture and put it in the round skillet with open handle end.", + "Transfer the soft bread into the skillet with black cooking surface from the table", + "Take the soft bread and put it in the flat-bottom skillet.", + "Pick the soft bread and transfer it to the black-surfaced skillet with gray sides", + "Lift the doughy and soft bread using the left arm and move it to the gray skillet for stovetop cooking", + "Move the golden bread from table into the black-surfaced skillet with gray sides", + "Use the left arm to grab the bread loaf with uneven edges and set it in the round skillet with handle.", + "Use the left arm to move the light golden brown bread into the dark gray skillet", + "Pick up the bread block with light patches with the left arm and drop it in the black-surfaced skillet with gray sides", + "Put the bread block with light patches into the round skillet with open handle end after grabbing it", + "Pick the soft bread with the left arm and set it in the dark gray skillet", + "Take the golden bread off the table into the dark gray skillet", + "Grab the cuboid bread and drop it into the medium-sized frying skillet", + "Grab the bread loaf with bumpy surface and place it inside the round skillet with handle", + "Use the left arm to lift the hand-sized bread block and place it into the skillet with black cooking surface.", + "Take the soft bread and place it inside the flat-bottom skillet", + "Take the golden bread loaf and drop it into the black-surfaced skillet with gray sides.", + "Pick up the bread loaf with bumpy surface and place it in the round skillet with handle.", + "Use the left arm to move the golden bread and set it into the medium-sized frying skillet.", + "Grab the soft bread and place it inside the round skillet with open handle end.", + "Use the left arm to stick the golden bread into the medium-sized frying skillet.", + "Grab the light golden brown bread and stick it in the round skillet with handle.", + "Use the left arm to set the golden bread loaf into the metal skillet with comfortable grip.", + "Take the soft bread and place it inside the round skillet with handle", + "Set the light golden brown bread into the medium-sized frying skillet after grabbing", + "Move the square-shaped bread into the smooth non-stick skillet from the table", + "Grab the soft bread using the left arm and place it in the metal skillet with comfortable grip", + "Use the left arm to grab the bread loaf with bumpy surface for the skillet for frying food", + "Use the left arm to pick the cuboid bread up for the flat-bottom skillet", + "Place the doughy and soft bread into the metal skillet with comfortable grip using the left arm", + "Use the left arm to pick the golden bread loaf and place it into the skillet for frying food.", + "Put the bread with rough texture into the smooth non-stick skillet.", + "Use the left arm to pick the golden bread loaf and put it in the dark gray skillet", + "Pick the golden bread loaf up using the left arm and drop it in the smooth non-stick skillet.", + "Lift the cuboid bread and drop it into the smooth non-stick skillet.", + "Use the left arm to place the bread with rough texture into the black-surfaced skillet with gray sides", + "Take the bread with rough texture and set it into the metal skillet", + "Pick the golden bread and set it into the round skillet with open handle end.", + "Move the hand-sized bread block to the dark gray skillet using the left arm", + "Grab the hand-sized bread block with the left arm and place in the round skillet with handle", + "Pick up the bread block with light patches and put it in the metal skillet", + "Use the left arm to pick the doughy and soft bread for the skillet for frying food", + "Place the golden bread loaf from the table into the metal skillet with comfortable grip", + "Pick the square-shaped bread off the table and place it in the skillet with black cooking surface.", + "Use the left arm to take the hand-sized bread block and move it into the skillet for frying food.", + "Take the light golden brown bread with the left arm and drop into the skillet with black cooking surface" + ], + "unseen": [ + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the left arm.", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the left arm.", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Move the bread with golden crust to the dark skillet with shiny finish using the left arm.", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Use the left arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Use the left arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the left arm.", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the left arm.", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Use the left arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Use the left arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the left arm.", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Move the bread with golden crust to the dark skillet with shiny finish using the left arm.", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode28.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..7ffc5642e6deb93378cd30ccd93ed83069c09ca2 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the golden bread loaf and transfer it to the skillet with black cooking surface", + "Take the golden bread loaf and put it in the dark gray skillet.", + "Grab the golden bread loaf and place it inside the metal skillet", + "Grab the light golden brown bread and stick it in the round skillet with handle.", + "Grab the hand-sized bread block and drop it into the smooth non-stick skillet", + "Pick up the square-shaped bread and place it in the smooth non-stick skillet.", + "Take the bread with rough texture and place it inside the round skillet with open handle end", + "Pick the golden bread loaf up using the left arm and drop it in the metal skillet.", + "Use the left arm to grab the light golden brown bread for the flat-bottom skillet", + "Grab the soft bread from the table and set it in the flat-bottom skillet.", + "Use the left arm to pick the square-shaped bread and put it in the round skillet with handle", + "Grab the hand-sized bread block and place it inside the gray skillet for stovetop cooking.", + "Move the bread block with light patches into the medium-sized frying skillet from the table", + "Transfer the light golden brown bread into the dark gray skillet from the table", + "Lift the bread loaf with uneven edges using the left arm and move it to the gray skillet for stovetop cooking", + "Take the square-shaped bread with the left arm and drop into the black-surfaced skillet with gray sides", + "Use the left arm to move the bread loaf with uneven edges into the gray skillet for stovetop cooking", + "Pick up the square-shaped bread with the left arm and drop it in the smooth non-stick skillet", + "Take the golden bread and set it into the medium-sized frying skillet", + "Take the golden bread loaf and place it inside the skillet with black cooking surface", + "Move the soft bread to the smooth non-stick skillet using the left arm", + "Use the left arm to pick the hand-sized bread block and place it into the smooth non-stick skillet.", + "Use the left arm to move the bread block with light patches and set it into the flat-bottom skillet.", + "Take the hand-sized bread block off the table into the round skillet with handle", + "Use the left arm to set the soft bread into the dark gray skillet.", + "Move the bread loaf with bumpy surface from table into the metal skillet", + "Set the light golden brown bread into the round skillet with open handle end after grabbing", + "Grab the golden bread with the left arm and place in the smooth non-stick skillet", + "Use the left arm to lift the hand-sized bread block and place it into the round skillet with handle.", + "Place the bread block with light patches from the table into the metal skillet", + "Use the left arm to place the doughy and soft bread into the skillet for frying food", + "Use the left arm to grab the light golden brown bread and set it in the round skillet with open handle end.", + "Grab the golden bread loaf using the left arm and place it in the dark gray skillet", + "Pick the soft bread off the table and place it in the flat-bottom skillet.", + "Pick the square-shaped bread with the left arm and set it in the metal skillet with comfortable grip", + "Lift the hand-sized bread block and drop it into the dark gray skillet.", + "Pick up the hand-sized bread block and put it in the metal skillet", + "Use the left arm to take the golden bread loaf and move it into the round skillet with open handle end.", + "Use the left arm to grab the doughy and soft bread for the round skillet with handle", + "Lift the bread loaf with bumpy surface and drop it into the round skillet with handle", + "Put the doughy and soft bread into the black-surfaced skillet with gray sides after grabbing it", + "Use the left arm to stick the bread with rough texture into the flat-bottom skillet.", + "Take the square-shaped bread and drop it into the metal skillet with comfortable grip.", + "Use the left arm to pick the cuboid bread up for the skillet with black cooking surface", + "Pick the light golden brown bread and set it into the skillet with black cooking surface.", + "Use the left arm to pick the bread loaf with uneven edges for the flat-bottom skillet", + "Put the cuboid bread into the dark gray skillet.", + "Take the light golden brown bread and put it in the round skillet with open handle end.", + "Place the square-shaped bread into the round skillet with handle with the left arm.", + "Place the hand-sized bread block into the metal skillet using the left arm", + "Pick the cuboid bread and transfer it to the smooth non-stick skillet", + "Take the bread loaf with bumpy surface and put it in the medium-sized frying skillet.", + "Grab the doughy and soft bread and place it inside the round skillet with open handle end", + "Grab the soft bread and stick it in the gray skillet for stovetop cooking.", + "Grab the bread loaf with uneven edges and drop it into the metal skillet", + "Pick up the bread with rough texture and place it in the gray skillet for stovetop cooking.", + "Take the bread with rough texture and place it inside the black-surfaced skillet with gray sides", + "Pick the bread loaf with bumpy surface up using the left arm and drop it in the round skillet with open handle end.", + "Use the left arm to grab the bread loaf with uneven edges for the medium-sized frying skillet", + "Grab the bread block with light patches from the table and set it in the round skillet with handle.", + "Use the left arm to pick the cuboid bread and put it in the metal skillet", + "Grab the square-shaped bread and place it inside the skillet for frying food.", + "Move the light golden brown bread into the metal skillet from the table", + "Transfer the light golden brown bread into the round skillet with open handle end from the table", + "Lift the light golden brown bread using the left arm and move it to the dark gray skillet", + "Take the golden bread loaf with the left arm and drop into the skillet for frying food", + "Use the left arm to move the bread with rough texture into the skillet for frying food", + "Pick up the light golden brown bread with the left arm and drop it in the smooth non-stick skillet", + "Take the square-shaped bread and set it into the round skillet with open handle end", + "Take the bread with rough texture and place it inside the dark gray skillet", + "Move the light golden brown bread to the metal skillet using the left arm", + "Use the left arm to pick the cuboid bread and place it into the gray skillet for stovetop cooking.", + "Use the left arm to move the golden bread loaf and set it into the gray skillet for stovetop cooking.", + "Take the square-shaped bread off the table into the skillet with black cooking surface", + "Use the left arm to set the hand-sized bread block into the skillet for frying food.", + "Move the light golden brown bread from table into the medium-sized frying skillet", + "Set the light golden brown bread into the metal skillet with comfortable grip after grabbing", + "Grab the light golden brown bread with the left arm and place in the flat-bottom skillet", + "Use the left arm to lift the bread block with light patches and place it into the skillet with black cooking surface.", + "Place the hand-sized bread block from the table into the smooth non-stick skillet", + "Use the left arm to place the doughy and soft bread into the metal skillet", + "Use the left arm to grab the bread loaf with bumpy surface and set it in the skillet with black cooking surface.", + "Grab the cuboid bread using the left arm and place it in the gray skillet for stovetop cooking", + "Pick the bread block with light patches off the table and place it in the metal skillet with comfortable grip.", + "Pick the bread loaf with uneven edges with the left arm and set it in the round skillet with handle", + "Lift the golden bread and drop it into the metal skillet with comfortable grip.", + "Pick up the bread loaf with uneven edges and put it in the round skillet with handle", + "Use the left arm to take the bread with rough texture and move it into the metal skillet.", + "Use the left arm to grab the bread with rough texture for the skillet with black cooking surface", + "Lift the light golden brown bread and drop it into the metal skillet with comfortable grip", + "Put the soft bread into the flat-bottom skillet after grabbing it", + "Use the left arm to stick the hand-sized bread block into the smooth non-stick skillet.", + "Take the bread with rough texture and drop it into the black-surfaced skillet with gray sides.", + "Use the left arm to pick the cuboid bread up for the flat-bottom skillet", + "Pick the doughy and soft bread and set it into the black-surfaced skillet with gray sides.", + "Use the left arm to pick the bread loaf with uneven edges for the metal skillet with comfortable grip", + "Put the golden bread into the smooth non-stick skillet.", + "Take the cuboid bread and put it in the gray skillet for stovetop cooking.", + "Place the bread loaf with bumpy surface into the skillet with black cooking surface with the left arm.", + "Place the bread loaf with bumpy surface into the gray skillet for stovetop cooking using the left arm" + ], + "unseen": [ + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Use the left arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Use the left arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Use the left arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Move the bread with golden crust to the dark skillet with shiny finish using the left arm.", + "Use the left arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Move the bread with golden crust to the dark skillet with shiny finish using the left arm.", + "Use the left arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Move the bread with golden crust to the dark skillet with shiny finish using the left arm.", + "Use the left arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode29.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..c67bd3b4a3ffbdc8a71000b12113a8301fa13c51 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the light brown loaf with smooth sides for the solid dark-colored round pan", + "Pick the bread with warm golden color and transfer it to the heavy black cooking skillet", + "Lift the smooth loaf with rounded edges and drop it into the flat-bottomed skillet with long handle.", + "Grab the golden bread loaf and stick it in the versatile skillet for stovetop cooking.", + "Pick the small loaf with curved top up using the left arm and drop it in the heavy black cooking skillet.", + "Use the left arm to pick the small loaf with curved top and place it into the round cooking pan.", + "Pick the soft brown bread off the table and place it in the round cooking pan.", + "Grab the bread with golden-brown crust with the left arm and place in the medium black pan with handle", + "Pick up the small loaf with curved top and put it in the flat-bottomed skillet with long handle", + "Use the left arm to pick the bread with golden-brown crust and put it in the medium black pan with handle", + "Use the left arm to pick the light brown loaf with smooth sides for the versatile skillet for stovetop cooking", + "Lift the light brown loaf with smooth sides using the left arm and move it to the versatile skillet for stovetop cooking", + "Place the small loaf with curved top into the black pan with curved edges using the left arm", + "Pick the small loaf with curved top and set it into the dark pan with sturdy grip.", + "Grab the smooth loaf with rounded edges from the table and set it in the round cooking pan.", + "Use the left arm to take the brown loaf and move it into the dark pan with sturdy grip.", + "Take the small loaf with curved top with the left arm and drop into the smooth round pan made of iron", + "Take the brown loaf and place it inside the round cooking pan", + "Use the left arm to grab the light brown bread with ridges for the flat-bottomed skillet with long handle", + "Move the soft brown bread to the skillet with extended grip handle using the left arm", + "Put the bread with warm golden color into the solid dark-colored round pan after grabbing it", + "Use the left arm to pick the light brown bread with ridges up for the solid dark-colored round pan", + "Transfer the golden bread loaf into the skillet with extended grip handle from the table", + "Place the golden bread loaf into the dark pan with sturdy grip with the left arm.", + "Grab the soft brown bread and place it inside the versatile skillet for stovetop cooking", + "Use the left arm to lift the smooth loaf with rounded edges and place it into the smooth round pan made of iron.", + "Grab the smooth loaf with rounded edges and drop it into the medium black pan with handle", + "Use the left arm to move the smooth loaf with rounded edges into the black skillet with smooth base", + "Take the brown loaf and place it inside the black skillet with smooth base", + "Use the left arm to grab the light brown loaf with smooth sides and set it in the black skillet with smooth base.", + "Move the golden bread loaf from table into the solid dark-colored round pan", + "Use the left arm to set the small loaf with curved top into the dark pan with sturdy grip.", + "Place the small golden brown bread from the table into the round cooking pan", + "Take the smooth loaf with rounded edges and set it into the flat-bottomed skillet with long handle", + "Use the left arm to move the hand-sized oval loaf and set it into the flat-bottomed skillet with long handle.", + "Take the bread with warm golden color and put it in the heavy black cooking skillet.", + "Put the light brown bread with ridges into the versatile skillet for stovetop cooking.", + "Pick up the bread with golden-brown crust and place it in the flat-bottomed skillet with long handle.", + "Move the soft brown bread into the dark pan with sturdy grip from the table", + "Pick up the hand-sized oval loaf with the left arm and drop it in the black skillet with smooth base", + "Set the soft brown bread into the solid dark-colored round pan after grabbing", + "Take the soft brown bread and drop it into the round cooking pan.", + "Grab the bread with warm golden color using the left arm and place it in the round pan with hole in handle", + "Lift the bread with golden-brown crust and drop it into the versatile skillet for stovetop cooking", + "Use the left arm to place the light brown bread with ridges into the flat-bottomed skillet with long handle", + "Use the left arm to stick the golden bread loaf into the versatile skillet for stovetop cooking.", + "Pick the small loaf with curved top with the left arm and set it in the solid dark-colored round pan", + "Take the smooth loaf with rounded edges and put it in the round cooking pan.", + "Grab the smooth loaf with rounded edges and place it inside the dark pan with sturdy grip.", + "Take the bread with warm golden color off the table into the black skillet with smooth base", + "Use the left arm to grab the small loaf with curved top for the solid dark-colored round pan", + "Pick the bread with split top and transfer it to the round cooking pan", + "Lift the brown loaf and drop it into the smooth round pan made of iron.", + "Grab the bread with golden-brown crust and stick it in the heavy black cooking skillet.", + "Pick the brown loaf up using the left arm and drop it in the solid dark-colored round pan.", + "Use the left arm to pick the golden bread loaf and place it into the skillet with extended grip handle.", + "Pick the hand-sized oval loaf off the table and place it in the round cooking pan.", + "Grab the smooth loaf with rounded edges with the left arm and place in the skillet with extended grip handle", + "Pick up the light brown bread with ridges and put it in the medium black pan with handle", + "Use the left arm to pick the small golden brown bread and put it in the skillet with extended grip handle", + "Use the left arm to pick the small golden brown bread for the dark pan with sturdy grip", + "Lift the golden bread loaf using the left arm and move it to the black pan with curved edges", + "Place the small golden brown bread into the round pan with hole in handle using the left arm", + "Pick the hand-sized oval loaf and set it into the solid dark-colored round pan.", + "Grab the smooth loaf with rounded edges from the table and set it in the dark pan with sturdy grip.", + "Use the left arm to take the light brown loaf with smooth sides and move it into the round pan with hole in handle.", + "Take the bread with warm golden color with the left arm and drop into the versatile skillet for stovetop cooking", + "Take the hand-sized oval loaf and place it inside the round pan with hole in handle", + "Use the left arm to grab the bread with warm golden color for the dark pan with sturdy grip", + "Move the light brown loaf with smooth sides to the smooth round pan made of iron using the left arm", + "Put the bread with split top into the round cooking pan after grabbing it", + "Use the left arm to pick the bread with golden-brown crust up for the heavy black cooking skillet", + "Transfer the smooth loaf with rounded edges into the round cooking pan from the table", + "Place the soft brown bread into the round pan with hole in handle with the left arm.", + "Grab the hand-sized oval loaf and place it inside the round pan with hole in handle", + "Use the left arm to lift the soft brown bread and place it into the flat-bottomed skillet with long handle.", + "Grab the small loaf with curved top and drop it into the flat-bottomed skillet with long handle", + "Use the left arm to move the smooth loaf with rounded edges into the round pan with hole in handle", + "Take the smooth loaf with rounded edges and place it inside the solid dark-colored round pan", + "Use the left arm to grab the hand-sized oval loaf and set it in the skillet with extended grip handle.", + "Move the light brown bread with ridges from table into the medium black pan with handle", + "Use the left arm to set the light brown bread with ridges into the black skillet with smooth base.", + "Place the bread with warm golden color from the table into the black pan with curved edges", + "Take the small loaf with curved top and set it into the smooth round pan made of iron", + "Use the left arm to move the bread with golden-brown crust and set it into the solid dark-colored round pan.", + "Take the light brown loaf with smooth sides and put it in the skillet with extended grip handle.", + "Put the bread with golden-brown crust into the versatile skillet for stovetop cooking.", + "Pick up the smooth loaf with rounded edges and place it in the round pan with hole in handle.", + "Move the golden bread loaf into the black pan with curved edges from the table", + "Pick up the smooth loaf with rounded edges with the left arm and drop it in the flat-bottomed skillet with long handle", + "Set the light brown loaf with smooth sides into the black skillet with smooth base after grabbing", + "Take the golden bread loaf and drop it into the smooth round pan made of iron.", + "Grab the bread with golden-brown crust using the left arm and place it in the round pan with hole in handle", + "Lift the bread with golden-brown crust and drop it into the round cooking pan", + "Use the left arm to place the small golden brown bread into the heavy black cooking skillet", + "Use the left arm to stick the light brown loaf with smooth sides into the skillet with extended grip handle.", + "Pick the smooth loaf with rounded edges with the left arm and set it in the black skillet with smooth base", + "Take the brown loaf and put it in the flat-bottomed skillet with long handle.", + "Grab the brown loaf and place it inside the dark pan with sturdy grip.", + "Take the small loaf with curved top off the table into the heavy black cooking skillet" + ], + "unseen": [ + "Move the oval-shaped soft bread to the iron skillet for frying foods using the left arm.", + "Take the oval bread and put it in the round cast-iron skillet", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Use the left arm to move the oval-shaped soft bread to the black skillet.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Pick up the oval bread and drop it into the black skillet", + "Use the left arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the oval bread and set it in the round cast-iron skillet", + "Move the rounded oval bread to the iron skillet for frying foods using the left arm.", + "Take the oval bread and put it in the iron skillet for frying foods", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Use the left arm to move the oval bread to the black skillet.", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Use the left arm to grab the oval bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Move the oval-shaped soft bread to the round cast-iron skillet using the left arm.", + "Take the oval bread and put it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and place it into the black skillet.", + "Use the left arm to move the oval bread to the iron skillet for frying foods.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Use the left arm to grab the oval bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Move the rounded oval bread to the round cast-iron skillet using the left arm.", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Use the left arm to move the oval bread to the iron skillet for frying foods.", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Use the left arm to grab the oval bread and set it in the black skillet", + "Grab the oval bread and set it in the black skillet", + "Move the oval bread to the round cast-iron skillet using the left arm.", + "Take the oval bread and put it in the round cast-iron skillet", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Grab the oval bread and place it into the black skillet.", + "Use the left arm to move the oval bread to the round cast-iron skillet.", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the iron skillet for frying foods.", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Use the left arm to grab the rounded oval bread and set it in the black skillet", + "Grab the oval bread and set it in the black skillet", + "Move the rounded oval bread to the black skillet using the left arm.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Use the left arm to move the oval bread to the black skillet.", + "Pick the rounded oval bread up and place it in the black skillet", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Use the left arm to grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval bread and set it in the round cast-iron skillet", + "Move the rounded oval bread to the round cast-iron skillet using the left arm.", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it in the black skillet", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Use the left arm to move the oval bread to the black skillet.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Use the left arm to grab the oval bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Move the oval bread to the black skillet using the left arm.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Grab the oval bread and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Use the left arm to move the rounded oval bread to the iron skillet for frying foods.", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Use the left arm to grab the oval bread and set it in the round cast-iron skillet", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the black skillet using the left arm.", + "Take the rounded oval bread and put it in the black skillet", + "Grab the oval bread and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Use the left arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Pick the oval bread up and place it in the black skillet", + "Grab the rounded oval bread and drop it into the black skillet.", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Use the left arm to grab the rounded oval bread and set it in the black skillet", + "Grab the oval bread and set it in the black skillet", + "Move the rounded oval bread to the round cast-iron skillet using the left arm.", + "Take the oval bread and put it in the round cast-iron skillet", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Grab the oval bread and place it into the black skillet.", + "Use the left arm to move the rounded oval bread to the round cast-iron skillet.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Use the left arm to grab the oval bread and set it in the iron skillet for frying foods", + "Grab the oval bread and set it in the round cast-iron skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode3.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..d823ad13d10afd82325dbbe8d970df7a4bd639a5 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the cuboid bread with the left arm and place in the skillet for frying food", + "Lift the bread block with light patches using the left arm and move it to the metal skillet", + "Pick up the soft bread and place it in the gray skillet for stovetop cooking.", + "Grab the golden bread loaf from the table and set it in the smooth non-stick skillet.", + "Use the left arm to move the golden bread into the smooth non-stick skillet", + "Use the left arm to stick the bread loaf with uneven edges into the dark gray skillet.", + "Place the bread with rough texture from the table into the medium-sized frying skillet", + "Place the bread block with light patches into the round skillet with handle using the left arm", + "Move the bread loaf with uneven edges to the metal skillet using the left arm", + "Pick up the light golden brown bread with the left arm and drop it in the black-surfaced skillet with gray sides", + "Use the left arm to place the doughy and soft bread into the medium-sized frying skillet", + "Take the hand-sized bread block and set it into the black-surfaced skillet with gray sides", + "Pick the golden bread loaf off the table and place it in the smooth non-stick skillet.", + "Grab the bread loaf with uneven edges using the left arm and place it in the round skillet with handle", + "Pick the soft bread with the left arm and set it in the flat-bottom skillet", + "Pick the bread loaf with uneven edges up using the left arm and drop it in the skillet with black cooking surface.", + "Lift the bread block with light patches and drop it into the gray skillet for stovetop cooking", + "Use the left arm to lift the light golden brown bread and place it into the dark gray skillet.", + "Move the doughy and soft bread from table into the metal skillet", + "Use the left arm to move the soft bread and set it into the skillet for frying food.", + "Place the light golden brown bread into the medium-sized frying skillet with the left arm.", + "Use the left arm to pick the square-shaped bread and place it into the medium-sized frying skillet.", + "Pick the light golden brown bread and transfer it to the smooth non-stick skillet", + "Take the golden bread and put it in the metal skillet with comfortable grip.", + "Lift the hand-sized bread block and drop it into the smooth non-stick skillet.", + "Use the left arm to grab the doughy and soft bread for the skillet with black cooking surface", + "Grab the square-shaped bread and stick it in the skillet for frying food.", + "Use the left arm to grab the doughy and soft bread for the medium-sized frying skillet", + "Put the doughy and soft bread into the metal skillet with comfortable grip.", + "Pick up the light golden brown bread and put it in the skillet with black cooking surface", + "Grab the bread with rough texture and place it inside the metal skillet with comfortable grip.", + "Use the left arm to grab the doughy and soft bread and set it in the metal skillet with comfortable grip.", + "Take the soft bread and place it inside the round skillet with handle", + "Move the bread block with light patches into the smooth non-stick skillet from the table", + "Put the golden bread loaf into the round skillet with handle after grabbing it", + "Use the left arm to take the bread loaf with uneven edges and move it into the gray skillet for stovetop cooking.", + "Use the left arm to set the bread loaf with bumpy surface into the round skillet with handle.", + "Pick the cuboid bread and set it into the metal skillet with comfortable grip.", + "Use the left arm to pick the bread loaf with bumpy surface up for the skillet with black cooking surface", + "Grab the cuboid bread and drop it into the metal skillet", + "Take the soft bread and place it inside the round skillet with handle", + "Take the bread block with light patches with the left arm and drop into the metal skillet with comfortable grip", + "Use the left arm to pick the bread block with light patches for the smooth non-stick skillet", + "Grab the bread with rough texture and place it inside the skillet with black cooking surface", + "Take the bread block with light patches and put it in the dark gray skillet.", + "Take the bread block with light patches and drop it into the medium-sized frying skillet.", + "Set the golden bread into the dark gray skillet after grabbing", + "Transfer the light golden brown bread into the flat-bottom skillet from the table", + "Take the cuboid bread off the table into the metal skillet with comfortable grip", + "Use the left arm to pick the bread block with light patches and put it in the smooth non-stick skillet", + "Grab the bread block with light patches with the left arm and place in the skillet for frying food", + "Lift the doughy and soft bread using the left arm and move it to the medium-sized frying skillet", + "Pick up the hand-sized bread block and place it in the skillet with black cooking surface.", + "Grab the golden bread from the table and set it in the dark gray skillet.", + "Use the left arm to move the golden bread loaf into the flat-bottom skillet", + "Use the left arm to stick the hand-sized bread block into the dark gray skillet.", + "Place the light golden brown bread from the table into the dark gray skillet", + "Place the bread block with light patches into the smooth non-stick skillet using the left arm", + "Move the cuboid bread to the smooth non-stick skillet using the left arm", + "Pick up the bread loaf with uneven edges with the left arm and drop it in the black-surfaced skillet with gray sides", + "Use the left arm to place the square-shaped bread into the skillet with black cooking surface", + "Take the square-shaped bread and set it into the flat-bottom skillet", + "Pick the doughy and soft bread off the table and place it in the skillet for frying food.", + "Grab the golden bread loaf using the left arm and place it in the skillet with black cooking surface", + "Pick the golden bread loaf with the left arm and set it in the metal skillet", + "Pick the cuboid bread up using the left arm and drop it in the smooth non-stick skillet.", + "Lift the cuboid bread and drop it into the flat-bottom skillet", + "Use the left arm to lift the cuboid bread and place it into the gray skillet for stovetop cooking.", + "Move the doughy and soft bread from table into the dark gray skillet", + "Use the left arm to move the cuboid bread and set it into the smooth non-stick skillet.", + "Place the doughy and soft bread into the metal skillet with the left arm.", + "Use the left arm to pick the bread loaf with uneven edges and place it into the skillet with black cooking surface.", + "Pick the cuboid bread and transfer it to the medium-sized frying skillet", + "Take the golden bread and put it in the smooth non-stick skillet.", + "Lift the bread loaf with uneven edges and drop it into the medium-sized frying skillet.", + "Use the left arm to grab the hand-sized bread block for the black-surfaced skillet with gray sides", + "Grab the light golden brown bread and stick it in the metal skillet with comfortable grip.", + "Use the left arm to grab the bread loaf with bumpy surface for the flat-bottom skillet", + "Put the square-shaped bread into the dark gray skillet.", + "Pick up the cuboid bread and put it in the medium-sized frying skillet", + "Grab the golden bread loaf and place it inside the metal skillet with comfortable grip.", + "Use the left arm to grab the soft bread and set it in the skillet with black cooking surface.", + "Take the hand-sized bread block and place it inside the skillet for frying food", + "Move the square-shaped bread into the skillet for frying food from the table", + "Put the doughy and soft bread into the dark gray skillet after grabbing it", + "Use the left arm to take the hand-sized bread block and move it into the skillet for frying food.", + "Use the left arm to set the hand-sized bread block into the skillet for frying food.", + "Pick the square-shaped bread and set it into the round skillet with handle.", + "Use the left arm to pick the bread loaf with bumpy surface up for the round skillet with open handle end", + "Grab the hand-sized bread block and drop it into the smooth non-stick skillet", + "Take the doughy and soft bread and place it inside the gray skillet for stovetop cooking", + "Take the bread with rough texture with the left arm and drop into the gray skillet for stovetop cooking", + "Use the left arm to pick the golden bread loaf for the flat-bottom skillet", + "Grab the bread loaf with bumpy surface and place it inside the flat-bottom skillet", + "Take the bread with rough texture and put it in the metal skillet.", + "Take the golden bread and drop it into the metal skillet.", + "Set the hand-sized bread block into the round skillet with open handle end after grabbing", + "Transfer the hand-sized bread block into the metal skillet from the table", + "Take the light golden brown bread off the table into the skillet with black cooking surface", + "Use the left arm to pick the light golden brown bread and put it in the round skillet with handle" + ], + "unseen": [ + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Use the left arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Use the left arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Use the left arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the dark skillet with shiny finish using the left arm.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Use the left arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the left arm.", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the left arm.", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the dark skillet with shiny finish using the left arm.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Use the left arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Use the left arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Use the left arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode30.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..5b321a420b2c30ea9764bd0550d43d24cd2b1b1d --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to stick the soft doughy bread into the dark gray skillet.", + "Use the left arm to move the braided bread loaf into the round skillet with open handle end", + "Pick up the soft golden bread with the left arm and drop it in the medium-sized frying skillet", + "Place the smooth crusty small bread from the table into the flat-bottom skillet", + "Grab the bread with golden crust from the table and set it in the dark gray skillet.", + "Grab the bread with golden crust using the left arm and place it in the smooth non-stick skillet", + "Use the left arm to take the golden brown bread and move it into the gray skillet for stovetop cooking.", + "Move the soft doughy bread from table into the round skillet with open handle end", + "Move the small bread to the skillet with black cooking surface using the left arm", + "Use the left arm to pick the braided bread loaf up for the gray skillet for stovetop cooking", + "Take the small golden baked bread with the left arm and drop into the gray skillet for stovetop cooking", + "Put the bread with golden crust into the medium-sized frying skillet.", + "Use the left arm to move the smooth crusty small bread and set it into the medium-sized frying skillet.", + "Take the small bread and place it inside the round skillet with open handle end", + "Use the left arm to pick the golden brown bread for the round skillet with handle", + "Lift the braided bread loaf and drop it into the metal skillet.", + "Move the small golden baked bread into the metal skillet from the table", + "Take the soft doughy bread and put it in the skillet with black cooking surface.", + "Pick up the golden brown bread and put it in the metal skillet with comfortable grip", + "Set the braided bread loaf into the gray skillet for stovetop cooking after grabbing", + "Use the left arm to place the soft doughy bread into the metal skillet with comfortable grip", + "Grab the smooth crusty small bread with the left arm and place in the black-surfaced skillet with gray sides", + "Lift the braided bread loaf using the left arm and move it to the smooth non-stick skillet", + "Take the soft golden bread off the table into the dark gray skillet", + "Use the left arm to lift the small golden baked bread and place it into the skillet with black cooking surface.", + "Lift the small bread and drop it into the round skillet with open handle end", + "Take the soft golden bread and place it inside the medium-sized frying skillet", + "Pick the braided bread loaf with the left arm and set it in the gray skillet for stovetop cooking", + "Place the round bread with braided top into the gray skillet for stovetop cooking with the left arm.", + "Grab the small golden baked bread and place it inside the round skillet with open handle end", + "Use the left arm to grab the round bread with braided top for the metal skillet", + "Pick the small bread and transfer it to the dark gray skillet", + "Pick up the smooth crusty small bread and place it in the medium-sized frying skillet.", + "Use the left arm to grab the golden bread loaf with soft inside for the skillet with black cooking surface", + "Put the bread with golden crust into the round skillet with handle after grabbing it", + "Transfer the golden brown bread with braided design into the flat-bottom skillet from the table", + "Pick the soft golden bread up using the left arm and drop it in the metal skillet with comfortable grip.", + "Take the bread with golden crust and set it into the skillet with black cooking surface", + "Use the left arm to set the small bread into the gray skillet for stovetop cooking.", + "Use the left arm to pick the soft golden bread and put it in the dark gray skillet", + "Use the left arm to grab the golden brown bread with braided design and set it in the round skillet with handle.", + "Grab the golden brown bread with braided design and place it inside the metal skillet.", + "Pick the soft golden bread off the table and place it in the dark gray skillet.", + "Grab the soft doughy bread and stick it in the dark gray skillet.", + "Grab the round bread with crusty texture and drop it into the smooth non-stick skillet", + "Use the left arm to pick the round bread with braided top and place it into the skillet with black cooking surface.", + "Place the golden brown bread with braided design into the medium-sized frying skillet using the left arm", + "Pick the small golden baked bread and set it into the round skillet with handle.", + "Take the soft doughy bread and drop it into the round skillet with open handle end.", + "Take the small golden baked bread and put it in the medium-sized frying skillet.", + "Use the left arm to stick the bread with golden crust into the gray skillet for stovetop cooking.", + "Use the left arm to move the braided bread loaf into the flat-bottom skillet", + "Pick up the bread with golden crust with the left arm and drop it in the dark gray skillet", + "Place the bread with golden crust from the table into the skillet for frying food", + "Grab the golden brown bread with braided design from the table and set it in the skillet for frying food.", + "Grab the golden brown bread using the left arm and place it in the skillet for frying food", + "Use the left arm to take the bread with golden crust and move it into the dark gray skillet.", + "Move the small golden baked bread from table into the skillet with black cooking surface", + "Move the bread with golden crust to the black-surfaced skillet with gray sides using the left arm", + "Use the left arm to pick the smooth crusty small bread up for the round skillet with open handle end", + "Take the smooth crusty small bread with the left arm and drop into the skillet for frying food", + "Put the soft golden bread into the skillet with black cooking surface.", + "Use the left arm to move the small golden baked bread and set it into the medium-sized frying skillet.", + "Take the golden brown bread with braided design and place it inside the metal skillet with comfortable grip", + "Use the left arm to pick the small bread for the round skillet with open handle end", + "Lift the small bread and drop it into the round skillet with open handle end.", + "Move the soft golden bread into the gray skillet for stovetop cooking from the table", + "Take the small golden baked bread and put it in the skillet for frying food.", + "Pick up the golden bread loaf with soft inside and put it in the metal skillet with comfortable grip", + "Set the golden brown bread with braided design into the dark gray skillet after grabbing", + "Use the left arm to place the small golden baked bread into the medium-sized frying skillet", + "Grab the golden bread loaf with soft inside with the left arm and place in the metal skillet", + "Lift the smooth crusty small bread using the left arm and move it to the skillet with black cooking surface", + "Take the golden brown bread off the table into the metal skillet", + "Use the left arm to lift the round bread with crusty texture and place it into the black-surfaced skillet with gray sides.", + "Lift the soft golden bread and drop it into the round skillet with handle", + "Take the golden brown bread and place it inside the smooth non-stick skillet", + "Pick the braided bread loaf with the left arm and set it in the round skillet with open handle end", + "Place the golden brown bread with braided design into the round skillet with handle with the left arm.", + "Grab the golden bread loaf with soft inside and place it inside the round skillet with open handle end", + "Use the left arm to grab the round bread with crusty texture for the dark gray skillet", + "Pick the golden bread loaf with soft inside and transfer it to the black-surfaced skillet with gray sides", + "Pick up the small bread and place it in the gray skillet for stovetop cooking.", + "Use the left arm to grab the bread with golden crust for the metal skillet", + "Put the soft golden bread into the skillet for frying food after grabbing it", + "Transfer the smooth crusty small bread into the medium-sized frying skillet from the table", + "Pick the golden brown bread up using the left arm and drop it in the black-surfaced skillet with gray sides.", + "Take the small bread and set it into the round skillet with open handle end", + "Use the left arm to set the soft doughy bread into the flat-bottom skillet.", + "Use the left arm to pick the smooth crusty small bread and put it in the metal skillet with comfortable grip", + "Use the left arm to grab the bread with golden crust and set it in the round skillet with handle.", + "Grab the smooth crusty small bread and place it inside the round skillet with open handle end.", + "Pick the round bread with crusty texture off the table and place it in the skillet for frying food.", + "Grab the braided bread loaf and stick it in the metal skillet.", + "Grab the golden brown bread and drop it into the round skillet with open handle end", + "Use the left arm to pick the bread with golden crust and place it into the smooth non-stick skillet.", + "Place the golden brown bread into the skillet for frying food using the left arm", + "Pick the small golden baked bread and set it into the skillet with black cooking surface.", + "Take the bread with golden crust and drop it into the black-surfaced skillet with gray sides.", + "Take the braided bread loaf and put it in the round skillet with handle." + ], + "unseen": [ + "Grab the round braided loaf and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the round braided loaf and set it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the braided top round bread to the dark skillet with shiny finish.", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Pick up the braided top round bread and drop it into the versatile skillet for frying and sauteing", + "Pick the braided top round bread up and place it in the dark skillet with shiny finish", + "Grab the braided top round bread and place it in the dark skillet with shiny finish", + "Grab the braided top round bread and place it into the dark skillet with shiny finish.", + "Move the round braided loaf to the dark skillet with shiny finish using the left arm.", + "Grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the round braided loaf to the pan-shaped skillet with hole in handle.", + "Take the braided top round bread and put it in the versatile skillet for frying and sauteing", + "Pick up the round braided loaf and drop it into the dark skillet with shiny finish", + "Pick the palm-sized braided golden bread up and place it in the versatile skillet for frying and sauteing", + "Grab the braided top round bread and place it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and place it into the dark skillet with shiny finish.", + "Move the round braided loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the braided top round bread to the pan-shaped skillet with hole in handle.", + "Take the palm-sized braided golden bread and put it in the dark skillet with shiny finish", + "Pick up the round braided loaf and drop it into the dark skillet with shiny finish", + "Pick the palm-sized braided golden bread up and place it in the versatile skillet for frying and sauteing", + "Grab the braided top round bread and place it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and place it into the versatile skillet for frying and sauteing.", + "Move the round braided loaf to the dark skillet with shiny finish using the left arm.", + "Grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the round braided loaf and set it in the dark skillet with shiny finish", + "Grab the braided top round bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the palm-sized braided golden bread to the pan-shaped skillet with hole in handle.", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Pick up the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing", + "Pick the round braided loaf up and place it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and place it in the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and place it into the dark skillet with shiny finish.", + "Move the braided top round bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the round braided loaf and set it in the versatile skillet for frying and sauteing", + "Grab the round braided loaf and drop it into the dark skillet with shiny finish.", + "Use the left arm to move the braided top round bread to the dark skillet with shiny finish.", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Pick up the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing", + "Pick the braided top round bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and place it in the versatile skillet for frying and sauteing", + "Grab the braided top round bread and place it into the versatile skillet for frying and sauteing.", + "Move the round braided loaf to the versatile skillet for frying and sauteing using the left arm.", + "Grab the palm-sized braided golden bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to move the braided top round bread to the dark skillet with shiny finish.", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Pick up the braided top round bread and drop it into the versatile skillet for frying and sauteing", + "Pick the braided top round bread up and place it in the dark skillet with shiny finish", + "Grab the braided top round bread and place it in the dark skillet with shiny finish", + "Grab the braided top round bread and place it into the versatile skillet for frying and sauteing.", + "Move the braided top round bread to the dark skillet with shiny finish using the left arm.", + "Grab the braided top round bread and set it in the dark skillet with shiny finish", + "Use the left arm to grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the braided top round bread to the pan-shaped skillet with hole in handle.", + "Take the round braided loaf and put it in the pan-shaped skillet with hole in handle", + "Pick up the palm-sized braided golden bread and drop it into the dark skillet with shiny finish", + "Pick the round braided loaf up and place it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and place it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and place it into the pan-shaped skillet with hole in handle.", + "Move the braided top round bread to the dark skillet with shiny finish using the left arm.", + "Grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the braided top round bread to the versatile skillet for frying and sauteing.", + "Take the round braided loaf and put it in the dark skillet with shiny finish", + "Pick up the round braided loaf and drop it into the pan-shaped skillet with hole in handle", + "Pick the round braided loaf up and place it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and place it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it into the pan-shaped skillet with hole in handle.", + "Move the braided top round bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the round braided loaf and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to move the braided top round bread to the pan-shaped skillet with hole in handle.", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Pick up the round braided loaf and drop it into the pan-shaped skillet with hole in handle", + "Pick the round braided loaf up and place it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and place it into the dark skillet with shiny finish.", + "Move the round braided loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the round braided loaf and set it in the dark skillet with shiny finish", + "Use the left arm to grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the round braided loaf to the pan-shaped skillet with hole in handle.", + "Take the round braided loaf and put it in the versatile skillet for frying and sauteing", + "Pick up the braided top round bread and drop it into the pan-shaped skillet with hole in handle", + "Pick the braided top round bread up and place it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and place it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and place it into the pan-shaped skillet with hole in handle.", + "Move the braided top round bread to the versatile skillet for frying and sauteing using the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode31.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..4bc7fe893a77f30780de11c1735a6157a7513115 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to stick the bread with soft texture into the smooth round pan made of iron.", + "Use the right arm to grab the bread with soft texture for the solid dark-colored round pan", + "Pick up the bread with rounded edges with the right arm and drop it in the medium black pan with handle", + "Use the right arm to grab the light brown porous bread for the black pan with curved edges", + "Use the right arm to pick the light brown porous bread up for the round pan with hole in handle", + "Move the rounded square loaf into the flat-bottomed skillet with long handle from the table", + "Use the right arm to take the golden baked bread and move it into the solid dark-colored round pan.", + "Place the rounded square loaf into the versatile skillet for stovetop cooking with the right arm.", + "Lift the golden baked bread and drop it into the dark pan with sturdy grip", + "Place the soft square bread into the round pan with hole in handle using the right arm", + "Take the square-shaped bread piece and set it into the heavy black cooking skillet", + "Use the right arm to set the medium bread with rounded sides into the versatile skillet for stovetop cooking.", + "Pick the bread with rounded edges and set it into the black skillet with smooth base.", + "Use the right arm to lift the soft square bread and place it into the black skillet with smooth base.", + "Pick up the fluffy baked bread and place it in the solid dark-colored round pan.", + "Lift the bread with rounded edges and drop it into the black skillet with smooth base.", + "Use the right arm to pick the fluffy baked bread and put it in the smooth round pan made of iron", + "Pick up the bread with rounded edges and put it in the versatile skillet for stovetop cooking", + "Pick the bread with soft texture with the right arm and set it in the solid dark-colored round pan", + "Take the bread with rounded edges with the right arm and drop into the round pan with hole in handle", + "Grab the golden baked bread from the table and set it in the black pan with curved edges.", + "Use the right arm to place the golden baked bread into the medium black pan with handle", + "Grab the golden baked bread using the right arm and place it in the black pan with curved edges", + "Move the medium bread with rounded sides from table into the round pan with hole in handle", + "Use the right arm to move the square-shaped bread piece and set it into the medium black pan with handle.", + "Put the golden baked bread into the black pan with curved edges after grabbing it", + "Take the rounded square loaf off the table into the skillet with extended grip handle", + "Lift the sponge-textured golden bread using the right arm and move it to the versatile skillet for stovetop cooking", + "Grab the bread with soft texture and stick it in the skillet with extended grip handle.", + "Place the rounded square loaf from the table into the round cooking pan", + "Use the right arm to grab the soft square bread and set it in the heavy black cooking skillet.", + "Move the soft square bread to the skillet with extended grip handle using the right arm", + "Use the right arm to pick the bread with rounded edges for the heavy black cooking skillet", + "Pick the sponge-textured golden bread and transfer it to the round pan with hole in handle", + "Pick the golden baked bread off the table and place it in the black skillet with smooth base.", + "Take the medium-sized bread piece and drop it into the solid dark-colored round pan.", + "Take the golden brown bread and put it in the flat-bottomed skillet with long handle.", + "Use the right arm to pick the sponge-textured golden bread and place it into the black pan with curved edges.", + "Transfer the bread with rounded edges into the heavy black cooking skillet from the table", + "Use the right arm to move the bread with soft texture into the solid dark-colored round pan", + "Grab the bread with rounded edges and place it inside the skillet with extended grip handle", + "Set the soft square bread into the black skillet with smooth base after grabbing", + "Grab the fluffy baked bread with the right arm and place in the round pan with hole in handle", + "Grab the fluffy baked bread and place it inside the medium black pan with handle.", + "Take the soft square bread and place it inside the round pan with hole in handle", + "Take the square-shaped bread piece and place it inside the medium black pan with handle", + "Grab the fluffy baked bread and drop it into the solid dark-colored round pan", + "Take the rounded square loaf and put it in the round pan with hole in handle.", + "Pick the sponge-textured golden bread up using the right arm and drop it in the smooth round pan made of iron.", + "Put the golden brown bread into the skillet with extended grip handle.", + "Use the right arm to stick the soft square bread into the flat-bottomed skillet with long handle.", + "Use the right arm to grab the bread with soft texture for the black pan with curved edges", + "Pick up the sponge-textured golden bread with the right arm and drop it in the heavy black cooking skillet", + "Use the right arm to grab the bread with rounded edges for the flat-bottomed skillet with long handle", + "Use the right arm to pick the golden baked bread up for the black pan with curved edges", + "Move the rounded square loaf into the skillet with extended grip handle from the table", + "Use the right arm to take the golden baked bread and move it into the flat-bottomed skillet with long handle.", + "Place the golden brown bread into the black skillet with smooth base with the right arm.", + "Lift the fluffy baked bread and drop it into the smooth round pan made of iron", + "Place the rounded square loaf into the round cooking pan using the right arm", + "Take the medium bread with rounded sides and set it into the solid dark-colored round pan", + "Use the right arm to set the rounded square loaf into the dark pan with sturdy grip.", + "Pick the rounded square loaf and set it into the black skillet with smooth base.", + "Use the right arm to lift the square-shaped bread piece and place it into the black skillet with smooth base.", + "Pick up the medium-sized bread piece and place it in the medium black pan with handle.", + "Lift the bread with rounded edges and drop it into the black skillet with smooth base.", + "Use the right arm to pick the golden baked bread and put it in the black skillet with smooth base", + "Pick up the bread with soft texture and put it in the heavy black cooking skillet", + "Pick the light brown porous bread with the right arm and set it in the skillet with extended grip handle", + "Take the bread with rounded edges with the right arm and drop into the round cooking pan", + "Grab the bread with soft texture from the table and set it in the round cooking pan.", + "Use the right arm to place the square-shaped bread piece into the smooth round pan made of iron", + "Grab the rounded square loaf using the right arm and place it in the round pan with hole in handle", + "Move the golden baked bread from table into the skillet with extended grip handle", + "Use the right arm to move the bread with rounded edges and set it into the skillet with extended grip handle.", + "Put the bread with rounded edges into the medium black pan with handle after grabbing it", + "Take the bread with soft texture off the table into the versatile skillet for stovetop cooking", + "Lift the soft square bread using the right arm and move it to the round pan with hole in handle", + "Grab the fluffy baked bread and stick it in the dark pan with sturdy grip.", + "Place the fluffy baked bread from the table into the heavy black cooking skillet", + "Use the right arm to grab the rounded square loaf and set it in the round pan with hole in handle.", + "Move the fluffy baked bread to the medium black pan with handle using the right arm", + "Use the right arm to pick the medium-sized bread piece for the black pan with curved edges", + "Pick the sponge-textured golden bread and transfer it to the black pan with curved edges", + "Pick the medium bread with rounded sides off the table and place it in the round cooking pan.", + "Take the fluffy baked bread and drop it into the round pan with hole in handle.", + "Take the golden baked bread and put it in the heavy black cooking skillet.", + "Use the right arm to pick the golden brown bread and place it into the solid dark-colored round pan.", + "Transfer the bread with soft texture into the medium black pan with handle from the table", + "Use the right arm to move the medium-sized bread piece into the flat-bottomed skillet with long handle", + "Grab the medium bread with rounded sides and place it inside the medium black pan with handle", + "Set the bread with soft texture into the versatile skillet for stovetop cooking after grabbing", + "Grab the square-shaped bread piece with the right arm and place in the solid dark-colored round pan", + "Grab the golden brown bread and place it inside the smooth round pan made of iron.", + "Take the medium-sized bread piece and place it inside the flat-bottomed skillet with long handle", + "Take the bread with rounded edges and place it inside the heavy black cooking skillet", + "Grab the fluffy baked bread and drop it into the solid dark-colored round pan", + "Take the medium bread with rounded sides and put it in the smooth round pan made of iron.", + "Pick the bread with rounded edges up using the right arm and drop it in the dark pan with sturdy grip.", + "Put the bread with soft texture into the medium black pan with handle." + ], + "unseen": [ + "Grab the soft bread with golden edges and drop it into the iron skillet for frying foods.", + "Grab the square bread with light spots and set it in the round cast-iron skillet", + "Pick up the square bread with light spots and drop it into the black skillet", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Take the spongy golden brown bread and put it in the black skillet", + "Pick the soft bread with golden edges up and place it in the round cast-iron skillet", + "Use the right arm to move the square bread with light spots to the round cast-iron skillet.", + "Grab the soft bread with golden edges and place it into the black skillet.", + "Use the right arm to grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Move the spongy golden brown bread to the round cast-iron skillet using the right arm.", + "Grab the spongy golden brown bread and drop it into the iron skillet for frying foods.", + "Grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Pick up the square bread with light spots and drop it into the iron skillet for frying foods", + "Grab the spongy golden brown bread and place it in the round cast-iron skillet", + "Take the spongy golden brown bread and put it in the round cast-iron skillet", + "Pick the spongy golden brown bread up and place it in the round cast-iron skillet", + "Use the right arm to move the spongy golden brown bread to the iron skillet for frying foods.", + "Grab the soft bread with golden edges and place it into the round cast-iron skillet.", + "Use the right arm to grab the square bread with light spots and set it in the round cast-iron skillet", + "Move the spongy golden brown bread to the black skillet using the right arm.", + "Grab the soft bread with golden edges and drop it into the round cast-iron skillet.", + "Grab the soft bread with golden edges and set it in the black skillet", + "Pick up the soft bread with golden edges and drop it into the black skillet", + "Grab the soft bread with golden edges and place it in the round cast-iron skillet", + "Take the soft bread with golden edges and put it in the iron skillet for frying foods", + "Pick the spongy golden brown bread up and place it in the iron skillet for frying foods", + "Use the right arm to move the spongy golden brown bread to the black skillet.", + "Grab the square bread with light spots and place it into the iron skillet for frying foods.", + "Use the right arm to grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Move the soft bread with golden edges to the iron skillet for frying foods using the right arm.", + "Grab the spongy golden brown bread and drop it into the black skillet.", + "Grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Pick up the soft bread with golden edges and drop it into the iron skillet for frying foods", + "Grab the spongy golden brown bread and place it in the round cast-iron skillet", + "Take the square bread with light spots and put it in the black skillet", + "Pick the square bread with light spots up and place it in the round cast-iron skillet", + "Use the right arm to move the square bread with light spots to the round cast-iron skillet.", + "Grab the square bread with light spots and place it into the black skillet.", + "Use the right arm to grab the spongy golden brown bread and set it in the black skillet", + "Move the square bread with light spots to the black skillet using the right arm.", + "Grab the square bread with light spots and drop it into the iron skillet for frying foods.", + "Grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Pick up the soft bread with golden edges and drop it into the iron skillet for frying foods", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Take the spongy golden brown bread and put it in the round cast-iron skillet", + "Pick the soft bread with golden edges up and place it in the iron skillet for frying foods", + "Use the right arm to move the soft bread with golden edges to the round cast-iron skillet.", + "Grab the square bread with light spots and place it into the round cast-iron skillet.", + "Use the right arm to grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Move the spongy golden brown bread to the black skillet using the right arm.", + "Grab the spongy golden brown bread and drop it into the round cast-iron skillet.", + "Grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Pick up the spongy golden brown bread and drop it into the round cast-iron skillet", + "Grab the soft bread with golden edges and place it in the iron skillet for frying foods", + "Take the soft bread with golden edges and put it in the round cast-iron skillet", + "Pick the soft bread with golden edges up and place it in the black skillet", + "Use the right arm to move the soft bread with golden edges to the round cast-iron skillet.", + "Grab the square bread with light spots and place it into the round cast-iron skillet.", + "Use the right arm to grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Move the soft bread with golden edges to the round cast-iron skillet using the right arm.", + "Grab the soft bread with golden edges and drop it into the black skillet.", + "Grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Pick up the soft bread with golden edges and drop it into the iron skillet for frying foods", + "Grab the spongy golden brown bread and place it in the round cast-iron skillet", + "Take the square bread with light spots and put it in the round cast-iron skillet", + "Pick the square bread with light spots up and place it in the iron skillet for frying foods", + "Use the right arm to move the spongy golden brown bread to the round cast-iron skillet.", + "Grab the soft bread with golden edges and place it into the round cast-iron skillet.", + "Use the right arm to grab the square bread with light spots and set it in the black skillet", + "Move the spongy golden brown bread to the black skillet using the right arm.", + "Grab the spongy golden brown bread and drop it into the iron skillet for frying foods.", + "Grab the soft bread with golden edges and set it in the black skillet", + "Pick up the spongy golden brown bread and drop it into the iron skillet for frying foods", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Take the soft bread with golden edges and put it in the round cast-iron skillet", + "Pick the square bread with light spots up and place it in the round cast-iron skillet", + "Use the right arm to move the spongy golden brown bread to the black skillet.", + "Grab the spongy golden brown bread and place it into the black skillet.", + "Use the right arm to grab the square bread with light spots and set it in the iron skillet for frying foods", + "Move the soft bread with golden edges to the black skillet using the right arm.", + "Grab the square bread with light spots and drop it into the black skillet.", + "Grab the soft bread with golden edges and set it in the black skillet", + "Pick up the soft bread with golden edges and drop it into the round cast-iron skillet", + "Grab the square bread with light spots and place it in the iron skillet for frying foods", + "Take the soft bread with golden edges and put it in the iron skillet for frying foods", + "Pick the soft bread with golden edges up and place it in the iron skillet for frying foods", + "Use the right arm to move the spongy golden brown bread to the iron skillet for frying foods.", + "Grab the soft bread with golden edges and place it into the iron skillet for frying foods.", + "Use the right arm to grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Move the square bread with light spots to the iron skillet for frying foods using the right arm.", + "Grab the square bread with light spots and drop it into the round cast-iron skillet.", + "Grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Pick up the soft bread with golden edges and drop it into the black skillet", + "Grab the square bread with light spots and place it in the iron skillet for frying foods", + "Take the spongy golden brown bread and put it in the iron skillet for frying foods", + "Pick the soft bread with golden edges up and place it in the round cast-iron skillet", + "Use the right arm to move the square bread with light spots to the black skillet.", + "Grab the soft bread with golden edges and place it into the round cast-iron skillet.", + "Use the right arm to grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Move the soft bread with golden edges to the black skillet using the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode32.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..6860b31a13cb073b86d32edaf6c58d540856c9da --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the hand-sized bread block into the round cooking pan after grabbing", + "Take the bread with rough texture and place it inside the solid dark-colored round pan", + "Pick up the cuboid bread and place it in the versatile skillet for stovetop cooking.", + "Grab the square-shaped bread and stick it in the black skillet with smooth base.", + "Use the left arm to pick the light golden brown bread for the versatile skillet for stovetop cooking", + "Lift the golden bread loaf and drop it into the solid dark-colored round pan.", + "Take the doughy and soft bread and put it in the smooth round pan made of iron.", + "Use the left arm to pick the golden bread and put it in the medium black pan with handle", + "Move the soft bread into the flat-bottomed skillet with long handle from the table", + "Grab the light golden brown bread with the left arm and place in the skillet with extended grip handle", + "Use the left arm to grab the cuboid bread for the medium black pan with handle", + "Use the left arm to pick the light golden brown bread and place it into the versatile skillet for stovetop cooking.", + "Transfer the bread block with light patches into the versatile skillet for stovetop cooking from the table", + "Grab the bread with rough texture and drop it into the versatile skillet for stovetop cooking", + "Use the left arm to move the hand-sized bread block into the flat-bottomed skillet with long handle", + "Pick up the light golden brown bread with the left arm and drop it in the medium black pan with handle", + "Use the left arm to place the square-shaped bread into the heavy black cooking skillet", + "Take the bread with rough texture and put it in the round pan with hole in handle.", + "Take the bread loaf with uneven edges with the left arm and drop into the medium black pan with handle", + "Place the cuboid bread into the round cooking pan using the left arm", + "Put the bread loaf with bumpy surface into the black skillet with smooth base after grabbing it", + "Take the square-shaped bread off the table into the black pan with curved edges", + "Use the left arm to lift the golden bread loaf and place it into the skillet with extended grip handle.", + "Use the left arm to move the bread loaf with uneven edges and set it into the dark pan with sturdy grip.", + "Place the soft bread into the black pan with curved edges with the left arm.", + "Grab the bread with rough texture and place it inside the heavy black cooking skillet", + "Lift the light golden brown bread using the left arm and move it to the dark pan with sturdy grip", + "Use the left arm to grab the bread block with light patches for the flat-bottomed skillet with long handle", + "Pick the doughy and soft bread and transfer it to the flat-bottomed skillet with long handle", + "Pick the hand-sized bread block off the table and place it in the heavy black cooking skillet.", + "Use the left arm to set the bread block with light patches into the medium black pan with handle.", + "Use the left arm to stick the golden bread into the skillet with extended grip handle.", + "Move the bread with rough texture from table into the black skillet with smooth base", + "Take the bread loaf with bumpy surface and place it inside the smooth round pan made of iron", + "Put the golden bread into the black skillet with smooth base.", + "Pick up the cuboid bread and put it in the smooth round pan made of iron", + "Grab the doughy and soft bread using the left arm and place it in the black pan with curved edges", + "Pick the doughy and soft bread up using the left arm and drop it in the solid dark-colored round pan.", + "Lift the golden bread loaf and drop it into the black skillet with smooth base", + "Take the cuboid bread and set it into the solid dark-colored round pan", + "Move the light golden brown bread to the smooth round pan made of iron using the left arm", + "Use the left arm to pick the soft bread up for the smooth round pan made of iron", + "Place the light golden brown bread from the table into the medium black pan with handle", + "Pick the bread loaf with uneven edges with the left arm and set it in the versatile skillet for stovetop cooking", + "Take the hand-sized bread block and drop it into the black skillet with smooth base.", + "Use the left arm to take the bread loaf with uneven edges and move it into the medium black pan with handle.", + "Grab the bread loaf with bumpy surface and place it inside the round cooking pan.", + "Grab the soft bread from the table and set it in the round pan with hole in handle.", + "Pick the soft bread and set it into the smooth round pan made of iron.", + "Use the left arm to grab the soft bread and set it in the heavy black cooking skillet.", + "Set the cuboid bread into the flat-bottomed skillet with long handle after grabbing", + "Take the bread loaf with bumpy surface and place it inside the solid dark-colored round pan", + "Pick up the bread with rough texture and place it in the flat-bottomed skillet with long handle.", + "Grab the golden bread loaf and stick it in the dark pan with sturdy grip.", + "Use the left arm to pick the golden bread loaf for the versatile skillet for stovetop cooking", + "Lift the hand-sized bread block and drop it into the solid dark-colored round pan.", + "Take the bread with rough texture and put it in the black pan with curved edges.", + "Use the left arm to pick the bread loaf with uneven edges and put it in the round pan with hole in handle", + "Move the golden bread into the black pan with curved edges from the table", + "Grab the doughy and soft bread with the left arm and place in the flat-bottomed skillet with long handle", + "Use the left arm to grab the bread loaf with uneven edges for the round pan with hole in handle", + "Use the left arm to pick the bread block with light patches and place it into the black pan with curved edges.", + "Transfer the hand-sized bread block into the medium black pan with handle from the table", + "Grab the golden bread loaf and drop it into the skillet with extended grip handle", + "Use the left arm to move the golden bread loaf into the flat-bottomed skillet with long handle", + "Pick up the bread with rough texture with the left arm and drop it in the round cooking pan", + "Use the left arm to place the golden bread into the heavy black cooking skillet", + "Take the golden bread loaf and put it in the flat-bottomed skillet with long handle.", + "Take the soft bread with the left arm and drop into the dark pan with sturdy grip", + "Place the golden bread loaf into the round pan with hole in handle using the left arm", + "Put the bread loaf with uneven edges into the black skillet with smooth base after grabbing it", + "Take the light golden brown bread off the table into the smooth round pan made of iron", + "Use the left arm to lift the golden bread loaf and place it into the versatile skillet for stovetop cooking.", + "Use the left arm to move the square-shaped bread and set it into the versatile skillet for stovetop cooking.", + "Place the doughy and soft bread into the black pan with curved edges with the left arm.", + "Grab the golden bread loaf and place it inside the flat-bottomed skillet with long handle", + "Lift the bread loaf with uneven edges using the left arm and move it to the black skillet with smooth base", + "Use the left arm to grab the doughy and soft bread for the black skillet with smooth base", + "Pick the golden bread and transfer it to the black pan with curved edges", + "Pick the bread block with light patches off the table and place it in the versatile skillet for stovetop cooking.", + "Use the left arm to set the cuboid bread into the round pan with hole in handle.", + "Use the left arm to stick the hand-sized bread block into the black skillet with smooth base.", + "Move the square-shaped bread from table into the heavy black cooking skillet", + "Take the golden bread and place it inside the medium black pan with handle", + "Put the bread with rough texture into the smooth round pan made of iron.", + "Pick up the golden bread and put it in the medium black pan with handle", + "Grab the hand-sized bread block using the left arm and place it in the flat-bottomed skillet with long handle", + "Pick the square-shaped bread up using the left arm and drop it in the round cooking pan.", + "Lift the bread loaf with uneven edges and drop it into the skillet with extended grip handle", + "Take the cuboid bread and set it into the dark pan with sturdy grip", + "Move the golden bread to the dark pan with sturdy grip using the left arm", + "Use the left arm to pick the bread loaf with bumpy surface up for the smooth round pan made of iron", + "Place the cuboid bread from the table into the round cooking pan", + "Pick the bread loaf with bumpy surface with the left arm and set it in the solid dark-colored round pan", + "Take the golden bread loaf and drop it into the versatile skillet for stovetop cooking.", + "Use the left arm to take the bread block with light patches and move it into the black pan with curved edges.", + "Grab the doughy and soft bread and place it inside the dark pan with sturdy grip.", + "Grab the light golden brown bread from the table and set it in the medium black pan with handle.", + "Pick the soft bread and set it into the solid dark-colored round pan.", + "Use the left arm to grab the bread loaf with uneven edges and set it in the round pan with hole in handle." + ], + "unseen": [ + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Use the left arm to move the rectangular bread loaf to the black skillet.", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Move the bread loaf with soft surface to the round cast-iron skillet using the left arm.", + "Take the bread loaf with soft surface and put it in the black skillet", + "Use the left arm to grab the bread loaf with soft surface and set it in the black skillet", + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Use the left arm to move the rectangular bread loaf to the black skillet.", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the iron skillet for frying foods", + "Grab the bread loaf with soft surface and drop it into the round cast-iron skillet.", + "Move the bread loaf with soft surface to the black skillet using the left arm.", + "Take the rectangular bread loaf and put it in the round cast-iron skillet", + "Use the left arm to grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Pick the bread with golden crust up and place it in the round cast-iron skillet", + "Grab the bread with golden crust and place it into the black skillet.", + "Grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Use the left arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Grab the bread with golden crust and place it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Grab the bread with golden crust and drop it into the black skillet.", + "Move the bread loaf with soft surface to the black skillet using the left arm.", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Use the left arm to grab the rectangular bread loaf and set it in the black skillet", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Use the left arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Pick up the bread with golden crust and drop it into the iron skillet for frying foods", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Move the rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Take the bread with golden crust and put it in the black skillet", + "Use the left arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Use the left arm to move the rectangular bread loaf to the round cast-iron skillet.", + "Grab the rectangular bread loaf and place it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Move the bread loaf with soft surface to the black skillet using the left arm.", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Use the left arm to grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Grab the bread with golden crust and set it in the black skillet", + "Use the left arm to move the bread with golden crust to the round cast-iron skillet.", + "Grab the rectangular bread loaf and place it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Move the bread with golden crust to the iron skillet for frying foods using the left arm.", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Use the left arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Use the left arm to move the bread loaf with soft surface to the iron skillet for frying foods.", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Grab the rectangular bread loaf and drop it into the black skillet.", + "Move the bread with golden crust to the iron skillet for frying foods using the left arm.", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Use the left arm to grab the bread loaf with soft surface and set it in the black skillet", + "Pick the bread with golden crust up and place it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Use the left arm to move the bread loaf with soft surface to the black skillet.", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Pick up the bread with golden crust and drop it into the round cast-iron skillet", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Move the rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Use the left arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it into the black skillet.", + "Grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Use the left arm to move the bread loaf with soft surface to the black skillet.", + "Grab the bread loaf with soft surface and place it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the black skillet", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Move the bread with golden crust to the round cast-iron skillet using the left arm.", + "Take the rectangular bread loaf and put it in the black skillet", + "Use the left arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Grab the bread with golden crust and set it in the black skillet", + "Use the left arm to move the rectangular bread loaf to the black skillet.", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Pick up the bread with golden crust and drop it into the black skillet", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Move the bread with golden crust to the black skillet using the left arm.", + "Take the bread with golden crust and put it in the black skillet", + "Use the left arm to grab the bread with golden crust and set it in the black skillet", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it into the black skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode33.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..817bd09b4caffe8ffc3c7001a258a9b3f9cfafc4 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the bread with split top into the round cooking pan using the right arm", + "Transfer the smooth loaf with rounded edges into the versatile skillet for stovetop cooking from the table", + "Lift the golden bread loaf and drop it into the black pan with curved edges", + "Use the right arm to set the smooth loaf with rounded edges into the solid dark-colored round pan.", + "Take the small loaf with curved top and set it into the flat-bottomed skillet with long handle", + "Take the golden bread loaf off the table into the smooth round pan made of iron", + "Take the golden bread loaf with the right arm and drop into the flat-bottomed skillet with long handle", + "Grab the small golden brown bread with the right arm and place in the black skillet with smooth base", + "Put the brown loaf into the black pan with curved edges after grabbing it", + "Grab the soft brown bread and place it inside the solid dark-colored round pan.", + "Use the right arm to grab the light brown loaf with smooth sides and set it in the medium black pan with handle.", + "Pick up the bread with golden-brown crust with the right arm and drop it in the round cooking pan", + "Use the right arm to stick the hand-sized oval loaf into the versatile skillet for stovetop cooking.", + "Use the right arm to pick the light brown bread with ridges and put it in the round pan with hole in handle", + "Take the small loaf with curved top and drop it into the black pan with curved edges.", + "Grab the soft brown bread and place it inside the flat-bottomed skillet with long handle", + "Place the brown loaf into the skillet with extended grip handle with the right arm.", + "Take the small golden brown bread and place it inside the dark pan with sturdy grip", + "Pick the hand-sized oval loaf and transfer it to the smooth round pan made of iron", + "Use the right arm to move the bread with split top and set it into the versatile skillet for stovetop cooking.", + "Set the hand-sized oval loaf into the black pan with curved edges after grabbing", + "Move the smooth loaf with rounded edges from table into the round cooking pan", + "Lift the golden bread loaf using the right arm and move it to the medium black pan with handle", + "Move the bread with warm golden color to the versatile skillet for stovetop cooking using the right arm", + "Use the right arm to pick the light brown bread with ridges up for the flat-bottomed skillet with long handle", + "Grab the light brown loaf with smooth sides from the table and set it in the solid dark-colored round pan.", + "Pick the soft brown bread up using the right arm and drop it in the medium black pan with handle.", + "Grab the bread with split top and stick it in the solid dark-colored round pan.", + "Put the light brown loaf with smooth sides into the versatile skillet for stovetop cooking.", + "Pick up the bread with golden-brown crust and place it in the medium black pan with handle.", + "Use the right arm to place the bread with split top into the flat-bottomed skillet with long handle", + "Use the right arm to grab the bread with golden-brown crust for the flat-bottomed skillet with long handle", + "Grab the bread with golden-brown crust using the right arm and place it in the round pan with hole in handle", + "Use the right arm to lift the light brown bread with ridges and place it into the skillet with extended grip handle.", + "Pick the small golden brown bread off the table and place it in the versatile skillet for stovetop cooking.", + "Use the right arm to move the brown loaf into the solid dark-colored round pan", + "Lift the bread with warm golden color and drop it into the round pan with hole in handle.", + "Grab the light brown bread with ridges and drop it into the flat-bottomed skillet with long handle", + "Use the right arm to pick the smooth loaf with rounded edges for the medium black pan with handle", + "Pick the bread with split top and set it into the dark pan with sturdy grip.", + "Place the golden bread loaf from the table into the heavy black cooking skillet", + "Pick the golden bread loaf with the right arm and set it in the black pan with curved edges", + "Use the right arm to take the soft brown bread and move it into the round pan with hole in handle.", + "Use the right arm to grab the hand-sized oval loaf for the round pan with hole in handle", + "Take the bread with split top and place it inside the flat-bottomed skillet with long handle", + "Pick up the golden bread loaf and put it in the heavy black cooking skillet", + "Take the soft brown bread and put it in the round cooking pan.", + "Take the brown loaf and put it in the round pan with hole in handle.", + "Use the right arm to pick the small golden brown bread and place it into the heavy black cooking skillet.", + "Move the brown loaf into the heavy black cooking skillet from the table", + "Place the bread with warm golden color into the versatile skillet for stovetop cooking using the right arm", + "Transfer the bread with warm golden color into the skillet with extended grip handle from the table", + "Lift the bread with warm golden color and drop it into the black pan with curved edges", + "Use the right arm to set the brown loaf into the versatile skillet for stovetop cooking.", + "Take the bread with split top and set it into the flat-bottomed skillet with long handle", + "Take the small golden brown bread off the table into the medium black pan with handle", + "Take the bread with warm golden color with the right arm and drop into the skillet with extended grip handle", + "Grab the smooth loaf with rounded edges with the right arm and place in the round pan with hole in handle", + "Put the small loaf with curved top into the black skillet with smooth base after grabbing it", + "Grab the small golden brown bread and place it inside the black skillet with smooth base.", + "Use the right arm to grab the soft brown bread and set it in the flat-bottomed skillet with long handle.", + "Pick up the bread with golden-brown crust with the right arm and drop it in the round pan with hole in handle", + "Use the right arm to stick the bread with split top into the flat-bottomed skillet with long handle.", + "Use the right arm to pick the small loaf with curved top and put it in the round pan with hole in handle", + "Take the smooth loaf with rounded edges and drop it into the round cooking pan.", + "Grab the bread with golden-brown crust and place it inside the solid dark-colored round pan", + "Place the light brown bread with ridges into the versatile skillet for stovetop cooking with the right arm.", + "Take the smooth loaf with rounded edges and place it inside the smooth round pan made of iron", + "Pick the bread with split top and transfer it to the solid dark-colored round pan", + "Use the right arm to move the soft brown bread and set it into the black pan with curved edges.", + "Set the bread with split top into the skillet with extended grip handle after grabbing", + "Move the soft brown bread from table into the skillet with extended grip handle", + "Lift the hand-sized oval loaf using the right arm and move it to the heavy black cooking skillet", + "Move the small golden brown bread to the black skillet with smooth base using the right arm", + "Use the right arm to pick the soft brown bread up for the dark pan with sturdy grip", + "Grab the soft brown bread from the table and set it in the smooth round pan made of iron.", + "Pick the soft brown bread up using the right arm and drop it in the solid dark-colored round pan.", + "Grab the soft brown bread and stick it in the round cooking pan.", + "Put the brown loaf into the black skillet with smooth base.", + "Pick up the light brown bread with ridges and place it in the versatile skillet for stovetop cooking.", + "Use the right arm to place the soft brown bread into the dark pan with sturdy grip", + "Use the right arm to grab the bread with warm golden color for the flat-bottomed skillet with long handle", + "Grab the brown loaf using the right arm and place it in the round pan with hole in handle", + "Use the right arm to lift the smooth loaf with rounded edges and place it into the solid dark-colored round pan.", + "Pick the small golden brown bread off the table and place it in the round pan with hole in handle.", + "Use the right arm to move the light brown bread with ridges into the versatile skillet for stovetop cooking", + "Lift the bread with warm golden color and drop it into the round pan with hole in handle.", + "Grab the light brown loaf with smooth sides and drop it into the heavy black cooking skillet", + "Use the right arm to pick the soft brown bread for the dark pan with sturdy grip", + "Pick the light brown loaf with smooth sides and set it into the versatile skillet for stovetop cooking.", + "Place the hand-sized oval loaf from the table into the medium black pan with handle", + "Pick the soft brown bread with the right arm and set it in the dark pan with sturdy grip", + "Use the right arm to take the bread with split top and move it into the versatile skillet for stovetop cooking.", + "Use the right arm to grab the soft brown bread for the solid dark-colored round pan", + "Take the bread with split top and place it inside the dark pan with sturdy grip", + "Pick up the hand-sized oval loaf and put it in the medium black pan with handle", + "Take the small golden brown bread and put it in the solid dark-colored round pan.", + "Take the bread with golden-brown crust and put it in the smooth round pan made of iron.", + "Use the right arm to pick the hand-sized oval loaf and place it into the solid dark-colored round pan.", + "Move the light brown bread with ridges into the medium black pan with handle from the table" + ], + "unseen": [ + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Use the right arm to grab the oval bread and set it in the iron skillet for frying foods", + "Move the oval bread to the black skillet using the right arm.", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Grab the oval bread and place it in the black skillet", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Take the oval bread and put it in the black skillet", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Use the right arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Grab the oval bread and set it in the black skillet", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Take the rounded oval bread and put it in the black skillet", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Grab the rounded oval bread and place it into the black skillet.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Grab the oval bread and drop it into the black skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Move the oval bread to the black skillet using the right arm.", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the black skillet.", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Move the rounded oval bread to the black skillet using the right arm.", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Pick up the oval bread and drop it into the black skillet", + "Take the oval-shaped soft bread and put it in the black skillet", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Take the oval bread and put it in the round cast-iron skillet", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the black skillet.", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Grab the oval bread and set it in the black skillet", + "Grab the oval bread and place it in the black skillet", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Take the oval bread and put it in the iron skillet for frying foods", + "Use the right arm to move the oval bread to the iron skillet for frying foods.", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Pick the oval bread up and place it in the black skillet", + "Grab the oval bread and drop it into the black skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it in the black skillet", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Use the right arm to grab the oval bread and set it in the iron skillet for frying foods", + "Move the rounded oval bread to the black skillet using the right arm.", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and place it in the black skillet", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Use the right arm to move the oval bread to the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode34.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..61da7a3463e256d47c25195f72ef55f992e8916d --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to take the cuboid bread and move it into the skillet with looped handle.", + "Pick up the light golden brown bread and place it in the flat-bottomed black cast iron skillet.", + "Pick the soft bread off the table and place it in the heavy cast iron skillet.", + "Put the soft bread into the flat-bottomed black cast iron skillet after grabbing it", + "Take the bread block with light patches and drop it into the medium skillet with rough outside.", + "Take the bread loaf with uneven edges and place it inside the skillet with sturdy material", + "Move the bread loaf with bumpy surface from table into the black cooking tool skillet", + "Use the left arm to move the golden bread and set it into the pan-shaped black skillet.", + "Grab the bread block with light patches from the table and set it in the skillet with wide round base.", + "Pick the golden bread loaf with the left arm and set it in the pan-shaped black skillet", + "Place the square-shaped bread from the table into the flat-bottomed black cast iron skillet", + "Lift the cuboid bread using the left arm and move it to the medium skillet with rough outside", + "Lift the doughy and soft bread and drop it into the black cooking tool skillet.", + "Use the left arm to pick the hand-sized bread block and place it into the black skillet for frying foods.", + "Take the hand-sized bread block off the table into the black skillet for frying foods", + "Pick up the soft bread and put it in the black skillet", + "Transfer the doughy and soft bread into the black skillet for frying foods from the table", + "Pick up the doughy and soft bread with the left arm and drop it in the skillet with looped handle", + "Place the light golden brown bread into the black skillet with long handle with the left arm.", + "Use the left arm to lift the cuboid bread and place it into the skillet with looped handle.", + "Take the square-shaped bread with the left arm and drop into the black skillet with long handle", + "Set the soft bread into the heavy cast iron skillet after grabbing", + "Move the bread loaf with uneven edges to the black skillet for frying foods using the left arm", + "Use the left arm to grab the bread block with light patches for the skillet with looped handle", + "Use the left arm to set the bread with rough texture into the black iron skillet for cooking.", + "Take the bread loaf with bumpy surface and put it in the black cooking tool skillet.", + "Grab the soft bread and drop it into the skillet with wide round base", + "Grab the light golden brown bread and place it inside the heavy cast iron skillet.", + "Pick the hand-sized bread block up using the left arm and drop it in the skillet with sturdy material.", + "Use the left arm to place the bread loaf with bumpy surface into the flat-bottomed black cast iron skillet", + "Pick the hand-sized bread block and transfer it to the black iron skillet for cooking", + "Use the left arm to grab the bread loaf with uneven edges for the medium skillet with rough outside", + "Take the bread block with light patches and set it into the pan-shaped black skillet", + "Pick the bread block with light patches and set it into the skillet with looped handle.", + "Use the left arm to move the bread loaf with bumpy surface into the black iron skillet for cooking", + "Place the square-shaped bread into the skillet with sturdy material using the left arm", + "Grab the golden bread and place it inside the black skillet with long handle", + "Grab the bread with rough texture with the left arm and place in the skillet with looped handle", + "Grab the bread loaf with uneven edges using the left arm and place it in the black skillet for frying foods", + "Take the bread loaf with bumpy surface and place it inside the pan-shaped black skillet", + "Move the square-shaped bread into the skillet with wide round base from the table", + "Take the golden bread loaf and put it in the black iron skillet for cooking.", + "Put the doughy and soft bread into the black skillet with long handle.", + "Use the left arm to grab the doughy and soft bread and set it in the skillet with looped handle.", + "Use the left arm to stick the soft bread into the skillet with looped handle.", + "Use the left arm to pick the golden bread and put it in the skillet with looped handle", + "Grab the square-shaped bread and stick it in the skillet with wide round base.", + "Use the left arm to pick the hand-sized bread block up for the pan-shaped black skillet", + "Use the left arm to pick the doughy and soft bread for the heavy cast iron skillet", + "Lift the square-shaped bread and drop it into the pan-shaped black skillet", + "Use the left arm to take the square-shaped bread and move it into the black cooking tool skillet.", + "Pick up the bread loaf with uneven edges and place it in the skillet with looped handle.", + "Pick the light golden brown bread off the table and place it in the black cooking tool skillet.", + "Put the cuboid bread into the pan-shaped black skillet after grabbing it", + "Take the bread loaf with bumpy surface and drop it into the skillet with looped handle.", + "Take the square-shaped bread and place it inside the black cooking tool skillet", + "Move the cuboid bread from table into the black skillet", + "Use the left arm to move the hand-sized bread block and set it into the pan-shaped black skillet.", + "Grab the golden bread loaf from the table and set it in the black cooking tool skillet.", + "Pick the bread loaf with uneven edges with the left arm and set it in the black skillet", + "Place the golden bread from the table into the flat-bottomed black cast iron skillet", + "Lift the bread loaf with uneven edges using the left arm and move it to the black iron skillet for cooking", + "Lift the bread loaf with bumpy surface and drop it into the black iron skillet for cooking.", + "Use the left arm to pick the bread loaf with bumpy surface and place it into the flat-bottomed black cast iron skillet.", + "Take the golden bread off the table into the black skillet", + "Pick up the bread with rough texture and put it in the skillet with looped handle", + "Transfer the bread with rough texture into the heavy cast iron skillet from the table", + "Pick up the golden bread with the left arm and drop it in the heavy cast iron skillet", + "Place the bread block with light patches into the black iron skillet for cooking with the left arm.", + "Use the left arm to lift the golden bread and place it into the black skillet with long handle.", + "Take the hand-sized bread block with the left arm and drop into the black iron skillet for cooking", + "Set the cuboid bread into the flat-bottomed black cast iron skillet after grabbing", + "Move the square-shaped bread to the black iron skillet for cooking using the left arm", + "Use the left arm to grab the square-shaped bread for the black iron skillet for cooking", + "Use the left arm to set the golden bread into the pan-shaped black skillet.", + "Take the bread loaf with uneven edges and put it in the skillet with looped handle.", + "Grab the bread loaf with bumpy surface and drop it into the skillet with wide round base", + "Grab the light golden brown bread and place it inside the black skillet.", + "Pick the square-shaped bread up using the left arm and drop it in the pan-shaped black skillet.", + "Use the left arm to place the bread with rough texture into the flat-bottomed black cast iron skillet", + "Pick the soft bread and transfer it to the flat-bottomed black cast iron skillet", + "Use the left arm to grab the square-shaped bread for the black skillet with long handle", + "Take the bread loaf with bumpy surface and set it into the black cooking tool skillet", + "Pick the light golden brown bread and set it into the black skillet for frying foods.", + "Use the left arm to move the golden bread into the medium skillet with rough outside", + "Place the hand-sized bread block into the skillet with sturdy material using the left arm", + "Grab the golden bread loaf and place it inside the heavy cast iron skillet", + "Grab the bread loaf with uneven edges with the left arm and place in the skillet with wide round base", + "Grab the bread block with light patches using the left arm and place it in the black skillet for frying foods", + "Take the bread loaf with bumpy surface and place it inside the skillet with sturdy material", + "Move the bread with rough texture into the black skillet with long handle from the table", + "Take the light golden brown bread and put it in the pan-shaped black skillet.", + "Put the light golden brown bread into the flat-bottomed black cast iron skillet.", + "Use the left arm to grab the bread with rough texture and set it in the skillet with looped handle.", + "Use the left arm to stick the golden bread into the black skillet for frying foods.", + "Use the left arm to pick the bread loaf with uneven edges and put it in the flat-bottomed black cast iron skillet", + "Grab the hand-sized bread block and stick it in the black skillet for frying foods.", + "Use the left arm to pick the soft bread up for the skillet with sturdy material", + "Use the left arm to pick the bread loaf with uneven edges for the black iron skillet for cooking", + "Lift the bread loaf with bumpy surface and drop it into the black skillet with long handle" + ], + "unseen": [ + "Grab the bread loaf with soft surface and place it into the round black skillet.", + "Use the left arm to move the bread with golden crust to the round black skillet.", + "Grab the bread with golden crust and drop it into the medium black frying skillet.", + "Pick up the bread loaf with soft surface and drop it into the smooth interior skillet", + "Grab the bread with golden crust and set it in the round black skillet", + "Use the left arm to grab the bread with golden crust and set it in the smooth interior skillet", + "Take the rectangular bread loaf and put it in the round black skillet", + "Pick the rectangular bread loaf up and place it in the round black skillet", + "Move the bread with golden crust to the round black skillet using the left arm.", + "Grab the bread with golden crust and place it in the round black skillet", + "Grab the bread loaf with soft surface and place it into the round black skillet.", + "Use the left arm to move the bread with golden crust to the smooth interior skillet.", + "Grab the bread with golden crust and drop it into the smooth interior skillet.", + "Pick up the bread with golden crust and drop it into the round black skillet", + "Grab the bread with golden crust and set it in the round black skillet", + "Use the left arm to grab the rectangular bread loaf and set it in the medium black frying skillet", + "Take the rectangular bread loaf and put it in the round black skillet", + "Pick the bread with golden crust up and place it in the round black skillet", + "Move the rectangular bread loaf to the smooth interior skillet using the left arm.", + "Grab the bread loaf with soft surface and place it in the medium black frying skillet", + "Grab the bread with golden crust and place it into the medium black frying skillet.", + "Use the left arm to move the bread loaf with soft surface to the smooth interior skillet.", + "Grab the rectangular bread loaf and drop it into the smooth interior skillet.", + "Pick up the bread with golden crust and drop it into the smooth interior skillet", + "Grab the rectangular bread loaf and set it in the round black skillet", + "Use the left arm to grab the bread loaf with soft surface and set it in the medium black frying skillet", + "Take the bread loaf with soft surface and put it in the smooth interior skillet", + "Pick the bread with golden crust up and place it in the smooth interior skillet", + "Move the bread with golden crust to the smooth interior skillet using the left arm.", + "Grab the rectangular bread loaf and place it in the medium black frying skillet", + "Grab the bread with golden crust and place it into the round black skillet.", + "Use the left arm to move the rectangular bread loaf to the medium black frying skillet.", + "Grab the rectangular bread loaf and drop it into the smooth interior skillet.", + "Pick up the bread with golden crust and drop it into the smooth interior skillet", + "Grab the bread with golden crust and set it in the smooth interior skillet", + "Use the left arm to grab the bread loaf with soft surface and set it in the medium black frying skillet", + "Take the bread loaf with soft surface and put it in the smooth interior skillet", + "Pick the rectangular bread loaf up and place it in the smooth interior skillet", + "Move the bread loaf with soft surface to the medium black frying skillet using the left arm.", + "Grab the bread with golden crust and place it in the round black skillet", + "Grab the rectangular bread loaf and place it into the medium black frying skillet.", + "Use the left arm to move the rectangular bread loaf to the smooth interior skillet.", + "Grab the bread with golden crust and drop it into the smooth interior skillet.", + "Pick up the bread loaf with soft surface and drop it into the smooth interior skillet", + "Grab the bread with golden crust and set it in the round black skillet", + "Use the left arm to grab the bread with golden crust and set it in the medium black frying skillet", + "Take the rectangular bread loaf and put it in the round black skillet", + "Pick the bread with golden crust up and place it in the medium black frying skillet", + "Move the bread with golden crust to the smooth interior skillet using the left arm.", + "Grab the bread loaf with soft surface and place it in the round black skillet", + "Grab the rectangular bread loaf and place it into the round black skillet.", + "Use the left arm to move the bread with golden crust to the smooth interior skillet.", + "Grab the rectangular bread loaf and drop it into the smooth interior skillet.", + "Pick up the rectangular bread loaf and drop it into the smooth interior skillet", + "Grab the bread loaf with soft surface and set it in the round black skillet", + "Use the left arm to grab the bread with golden crust and set it in the medium black frying skillet", + "Take the rectangular bread loaf and put it in the smooth interior skillet", + "Pick the bread with golden crust up and place it in the medium black frying skillet", + "Move the bread loaf with soft surface to the round black skillet using the left arm.", + "Grab the bread loaf with soft surface and place it in the round black skillet", + "Grab the bread with golden crust and place it into the round black skillet.", + "Use the left arm to move the bread with golden crust to the round black skillet.", + "Grab the rectangular bread loaf and drop it into the medium black frying skillet.", + "Pick up the bread with golden crust and drop it into the smooth interior skillet", + "Grab the rectangular bread loaf and set it in the medium black frying skillet", + "Use the left arm to grab the rectangular bread loaf and set it in the smooth interior skillet", + "Take the bread loaf with soft surface and put it in the medium black frying skillet", + "Pick the bread loaf with soft surface up and place it in the smooth interior skillet", + "Move the bread with golden crust to the medium black frying skillet using the left arm.", + "Grab the rectangular bread loaf and place it in the round black skillet", + "Grab the bread with golden crust and place it into the medium black frying skillet.", + "Use the left arm to move the bread with golden crust to the round black skillet.", + "Grab the rectangular bread loaf and drop it into the round black skillet.", + "Pick up the bread loaf with soft surface and drop it into the medium black frying skillet", + "Grab the bread with golden crust and set it in the round black skillet", + "Use the left arm to grab the rectangular bread loaf and set it in the round black skillet", + "Take the bread loaf with soft surface and put it in the round black skillet", + "Pick the bread loaf with soft surface up and place it in the round black skillet", + "Move the bread loaf with soft surface to the medium black frying skillet using the left arm.", + "Grab the bread with golden crust and place it in the round black skillet", + "Grab the bread with golden crust and place it into the smooth interior skillet.", + "Use the left arm to move the rectangular bread loaf to the round black skillet.", + "Grab the bread loaf with soft surface and drop it into the round black skillet.", + "Pick up the bread with golden crust and drop it into the round black skillet", + "Grab the rectangular bread loaf and set it in the round black skillet", + "Use the left arm to grab the bread loaf with soft surface and set it in the smooth interior skillet", + "Take the bread loaf with soft surface and put it in the smooth interior skillet", + "Pick the rectangular bread loaf up and place it in the smooth interior skillet", + "Move the bread loaf with soft surface to the smooth interior skillet using the left arm.", + "Grab the bread with golden crust and place it in the medium black frying skillet", + "Grab the bread with golden crust and place it into the smooth interior skillet.", + "Use the left arm to move the bread with golden crust to the medium black frying skillet.", + "Grab the rectangular bread loaf and drop it into the medium black frying skillet.", + "Pick up the bread with golden crust and drop it into the round black skillet", + "Grab the bread loaf with soft surface and set it in the smooth interior skillet", + "Use the left arm to grab the bread with golden crust and set it in the smooth interior skillet", + "Take the bread loaf with soft surface and put it in the round black skillet", + "Pick the rectangular bread loaf up and place it in the round black skillet", + "Move the bread loaf with soft surface to the smooth interior skillet using the left arm.", + "Grab the bread loaf with soft surface and place it in the round black skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode35.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..2b1253c7e7ed30517e38025f637723ed69c4e48b --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the small bread and drop it into the metal skillet with comfortable grip.", + "Use the left arm to pick the golden brown bread and put it in the flat-bottom skillet", + "Take the golden brown bread with braided design and set it into the medium-sized frying skillet", + "Use the left arm to pick the smooth crusty small bread and place it into the skillet for frying food.", + "Grab the golden brown bread with braided design and stick it in the metal skillet.", + "Use the left arm to move the soft doughy bread into the skillet with black cooking surface", + "Place the golden bread loaf with soft inside into the dark gray skillet with the left arm.", + "Pick the golden bread loaf with soft inside and set it into the dark gray skillet.", + "Set the golden brown bread with braided design into the metal skillet after grabbing", + "Take the soft golden bread with the left arm and drop into the round skillet with open handle end", + "Put the soft doughy bread into the medium-sized frying skillet after grabbing it", + "Grab the small bread from the table and set it in the medium-sized frying skillet.", + "Use the left arm to stick the round bread with crusty texture into the black-surfaced skillet with gray sides.", + "Take the round bread with crusty texture and put it in the metal skillet.", + "Pick the golden brown bread with the left arm and set it in the skillet with black cooking surface", + "Use the left arm to place the small bread into the flat-bottom skillet", + "Use the left arm to move the soft doughy bread and set it into the round skillet with handle.", + "Pick up the soft doughy bread and place it in the metal skillet with comfortable grip.", + "Grab the smooth crusty small bread and drop it into the smooth non-stick skillet", + "Put the smooth crusty small bread into the smooth non-stick skillet.", + "Use the left arm to lift the bread with golden crust and place it into the round skillet with handle.", + "Pick the golden brown bread off the table and place it in the round skillet with open handle end.", + "Place the golden brown bread from the table into the metal skillet with comfortable grip", + "Pick up the golden bread loaf with soft inside with the left arm and drop it in the round skillet with open handle end", + "Move the small golden baked bread into the skillet for frying food from the table", + "Use the left arm to grab the soft golden bread for the dark gray skillet", + "Pick the small golden baked bread and transfer it to the flat-bottom skillet", + "Place the soft golden bread into the medium-sized frying skillet using the left arm", + "Transfer the soft golden bread into the medium-sized frying skillet from the table", + "Use the left arm to set the smooth crusty small bread into the skillet with black cooking surface.", + "Lift the smooth crusty small bread and drop it into the dark gray skillet.", + "Move the golden brown bread with braided design to the flat-bottom skillet using the left arm", + "Grab the round bread with braided top and place it inside the smooth non-stick skillet", + "Take the soft golden bread off the table into the black-surfaced skillet with gray sides", + "Use the left arm to take the braided bread loaf and move it into the black-surfaced skillet with gray sides.", + "Lift the small bread using the left arm and move it to the metal skillet", + "Take the smooth crusty small bread and put it in the metal skillet.", + "Use the left arm to pick the soft golden bread for the skillet with black cooking surface", + "Move the golden bread loaf with soft inside from table into the metal skillet", + "Pick up the soft doughy bread and put it in the gray skillet for stovetop cooking", + "Use the left arm to pick the golden brown bread with braided design up for the round skillet with handle", + "Lift the small golden baked bread and drop it into the black-surfaced skillet with gray sides", + "Use the left arm to grab the smooth crusty small bread for the medium-sized frying skillet", + "Pick the braided bread loaf up using the left arm and drop it in the dark gray skillet.", + "Take the small bread and place it inside the metal skillet with comfortable grip", + "Use the left arm to grab the bread with golden crust and set it in the skillet with black cooking surface.", + "Grab the golden bread loaf with soft inside and place it inside the round skillet with open handle end.", + "Grab the soft golden bread using the left arm and place it in the round skillet with open handle end", + "Take the small golden baked bread and place it inside the skillet for frying food", + "Grab the golden brown bread with the left arm and place in the smooth non-stick skillet", + "Take the golden bread loaf with soft inside and drop it into the flat-bottom skillet.", + "Use the left arm to pick the bread with golden crust and put it in the skillet for frying food", + "Take the smooth crusty small bread and set it into the smooth non-stick skillet", + "Use the left arm to pick the golden brown bread and place it into the flat-bottom skillet.", + "Grab the golden brown bread and stick it in the dark gray skillet.", + "Use the left arm to move the golden bread loaf with soft inside into the black-surfaced skillet with gray sides", + "Place the small bread into the medium-sized frying skillet with the left arm.", + "Pick the bread with golden crust and set it into the medium-sized frying skillet.", + "Set the braided bread loaf into the round skillet with handle after grabbing", + "Take the bread with golden crust with the left arm and drop into the round skillet with handle", + "Put the braided bread loaf into the skillet with black cooking surface after grabbing it", + "Grab the small golden baked bread from the table and set it in the skillet with black cooking surface.", + "Use the left arm to stick the small bread into the round skillet with open handle end.", + "Take the bread with golden crust and put it in the dark gray skillet.", + "Pick the soft golden bread with the left arm and set it in the metal skillet", + "Use the left arm to place the smooth crusty small bread into the metal skillet", + "Use the left arm to move the soft doughy bread and set it into the smooth non-stick skillet.", + "Pick up the soft doughy bread and place it in the round skillet with handle.", + "Grab the round bread with braided top and drop it into the metal skillet with comfortable grip", + "Put the golden brown bread into the flat-bottom skillet.", + "Use the left arm to lift the round bread with crusty texture and place it into the dark gray skillet.", + "Pick the round bread with crusty texture off the table and place it in the skillet with black cooking surface.", + "Place the small golden baked bread from the table into the skillet with black cooking surface", + "Pick up the soft golden bread with the left arm and drop it in the skillet for frying food", + "Move the small golden baked bread into the medium-sized frying skillet from the table", + "Use the left arm to grab the golden brown bread for the round skillet with handle", + "Pick the soft golden bread and transfer it to the skillet for frying food", + "Place the golden bread loaf with soft inside into the metal skillet with comfortable grip using the left arm", + "Transfer the smooth crusty small bread into the round skillet with handle from the table", + "Use the left arm to set the soft golden bread into the skillet with black cooking surface.", + "Lift the round bread with braided top and drop it into the medium-sized frying skillet.", + "Move the bread with golden crust to the flat-bottom skillet using the left arm", + "Grab the small golden baked bread and place it inside the skillet with black cooking surface", + "Take the bread with golden crust off the table into the smooth non-stick skillet", + "Use the left arm to take the soft golden bread and move it into the skillet with black cooking surface.", + "Lift the golden brown bread using the left arm and move it to the metal skillet", + "Take the golden brown bread and put it in the round skillet with open handle end.", + "Use the left arm to pick the soft golden bread for the round skillet with open handle end", + "Move the golden bread loaf with soft inside from table into the round skillet with handle", + "Pick up the small golden baked bread and put it in the round skillet with handle", + "Use the left arm to pick the small bread up for the gray skillet for stovetop cooking", + "Lift the small golden baked bread and drop it into the dark gray skillet", + "Use the left arm to grab the golden brown bread with braided design for the metal skillet with comfortable grip", + "Pick the soft doughy bread up using the left arm and drop it in the metal skillet.", + "Take the soft golden bread and place it inside the dark gray skillet", + "Use the left arm to grab the golden brown bread and set it in the round skillet with open handle end.", + "Grab the golden bread loaf with soft inside and place it inside the round skillet with open handle end.", + "Grab the round bread with braided top using the left arm and place it in the skillet for frying food", + "Take the golden brown bread with braided design and place it inside the round skillet with handle", + "Grab the golden brown bread with braided design with the left arm and place in the skillet for frying food" + ], + "unseen": [ + "Grab the braided top round bread and place it in the dark skillet with shiny finish", + "Pick up the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to move the braided top round bread to the dark skillet with shiny finish.", + "Grab the palm-sized braided golden bread and set it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle.", + "Move the round braided loaf to the dark skillet with shiny finish using the left arm.", + "Pick the round braided loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the braided top round bread and set it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and place it into the pan-shaped skillet with hole in handle.", + "Take the braided top round bread and put it in the dark skillet with shiny finish", + "Grab the round braided loaf and place it in the versatile skillet for frying and sauteing", + "Pick up the braided top round bread and drop it into the dark skillet with shiny finish", + "Use the left arm to move the round braided loaf to the pan-shaped skillet with hole in handle.", + "Grab the round braided loaf and set it in the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle.", + "Move the round braided loaf to the dark skillet with shiny finish using the left arm.", + "Pick the round braided loaf up and place it in the dark skillet with shiny finish", + "Use the left arm to grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Grab the braided top round bread and place it into the versatile skillet for frying and sauteing.", + "Take the palm-sized braided golden bread and put it in the versatile skillet for frying and sauteing", + "Grab the braided top round bread and place it in the versatile skillet for frying and sauteing", + "Pick up the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to move the round braided loaf to the pan-shaped skillet with hole in handle.", + "Grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle.", + "Move the palm-sized braided golden bread to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the braided top round bread up and place it in the dark skillet with shiny finish", + "Use the left arm to grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and place it into the pan-shaped skillet with hole in handle.", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it in the dark skillet with shiny finish", + "Pick up the palm-sized braided golden bread and drop it into the dark skillet with shiny finish", + "Use the left arm to move the palm-sized braided golden bread to the versatile skillet for frying and sauteing.", + "Grab the round braided loaf and set it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing.", + "Move the braided top round bread to the dark skillet with shiny finish using the left arm.", + "Pick the palm-sized braided golden bread up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the round braided loaf and set it in the dark skillet with shiny finish", + "Grab the round braided loaf and place it into the dark skillet with shiny finish.", + "Take the palm-sized braided golden bread and put it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and place it in the versatile skillet for frying and sauteing", + "Pick up the braided top round bread and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to move the round braided loaf to the versatile skillet for frying and sauteing.", + "Grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and drop it into the versatile skillet for frying and sauteing.", + "Move the palm-sized braided golden bread to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the palm-sized braided golden bread up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it into the versatile skillet for frying and sauteing.", + "Take the braided top round bread and put it in the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and place it in the versatile skillet for frying and sauteing", + "Pick up the braided top round bread and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to move the braided top round bread to the versatile skillet for frying and sauteing.", + "Grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and drop it into the pan-shaped skillet with hole in handle.", + "Move the braided top round bread to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the braided top round bread up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the round braided loaf and set it in the dark skillet with shiny finish", + "Grab the round braided loaf and place it into the versatile skillet for frying and sauteing.", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it in the versatile skillet for frying and sauteing", + "Pick up the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to move the palm-sized braided golden bread to the dark skillet with shiny finish.", + "Grab the round braided loaf and set it in the versatile skillet for frying and sauteing", + "Grab the round braided loaf and drop it into the versatile skillet for frying and sauteing.", + "Move the palm-sized braided golden bread to the versatile skillet for frying and sauteing using the left arm.", + "Pick the palm-sized braided golden bread up and place it in the dark skillet with shiny finish", + "Use the left arm to grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it into the pan-shaped skillet with hole in handle.", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and place it in the dark skillet with shiny finish", + "Pick up the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to move the palm-sized braided golden bread to the dark skillet with shiny finish.", + "Grab the braided top round bread and set it in the dark skillet with shiny finish", + "Grab the braided top round bread and drop it into the pan-shaped skillet with hole in handle.", + "Move the braided top round bread to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the round braided loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it into the dark skillet with shiny finish.", + "Take the palm-sized braided golden bread and put it in the versatile skillet for frying and sauteing", + "Grab the round braided loaf and place it in the versatile skillet for frying and sauteing", + "Pick up the braided top round bread and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to move the braided top round bread to the versatile skillet for frying and sauteing.", + "Grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and drop it into the dark skillet with shiny finish.", + "Move the braided top round bread to the dark skillet with shiny finish using the left arm.", + "Pick the round braided loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it into the pan-shaped skillet with hole in handle.", + "Take the round braided loaf and put it in the dark skillet with shiny finish", + "Grab the round braided loaf and place it in the pan-shaped skillet with hole in handle", + "Pick up the round braided loaf and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to move the braided top round bread to the versatile skillet for frying and sauteing.", + "Grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Grab the braided top round bread and drop it into the versatile skillet for frying and sauteing.", + "Move the palm-sized braided golden bread to the versatile skillet for frying and sauteing using the left arm.", + "Pick the braided top round bread up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the round braided loaf and set it in the dark skillet with shiny finish", + "Grab the braided top round bread and place it into the dark skillet with shiny finish.", + "Take the braided top round bread and put it in the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode36.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..285edf8d279d55798a8a4ee23b8abf9486514aa5 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the bread with golden-brown crust and put it in the round cooking pan", + "Place the brown loaf into the round pan with hole in handle with the right arm.", + "Use the right arm to grab the small golden brown bread for the skillet with extended grip handle", + "Put the bread with warm golden color into the skillet with extended grip handle.", + "Pick the brown loaf and transfer it to the skillet with extended grip handle", + "Transfer the golden bread loaf into the round cooking pan from the table", + "Use the right arm to pick the brown loaf up for the dark pan with sturdy grip", + "Take the brown loaf and set it into the dark pan with sturdy grip", + "Grab the light brown bread with ridges and place it inside the versatile skillet for stovetop cooking.", + "Take the golden bread loaf off the table into the heavy black cooking skillet", + "Grab the brown loaf and stick it in the round pan with hole in handle.", + "Move the light brown loaf with smooth sides to the smooth round pan made of iron using the right arm", + "Use the right arm to lift the light brown bread with ridges and place it into the smooth round pan made of iron.", + "Grab the small loaf with curved top and place it inside the black pan with curved edges", + "Take the bread with split top and place it inside the round pan with hole in handle", + "Use the right arm to pick the light brown loaf with smooth sides and place it into the skillet with extended grip handle.", + "Pick the bread with split top with the right arm and set it in the heavy black cooking skillet", + "Use the right arm to pick the bread with split top and put it in the smooth round pan made of iron", + "Place the brown loaf into the black pan with curved edges using the right arm", + "Grab the small golden brown bread and drop it into the flat-bottomed skillet with long handle", + "Pick the light brown loaf with smooth sides and set it into the heavy black cooking skillet.", + "Use the right arm to move the hand-sized oval loaf and set it into the versatile skillet for stovetop cooking.", + "Move the bread with golden-brown crust from table into the round pan with hole in handle", + "Set the bread with split top into the round pan with hole in handle after grabbing", + "Use the right arm to stick the small golden brown bread into the skillet with extended grip handle.", + "Lift the small golden brown bread using the right arm and move it to the medium black pan with handle", + "Use the right arm to move the bread with warm golden color into the black pan with curved edges", + "Use the right arm to grab the bread with golden-brown crust and set it in the flat-bottomed skillet with long handle.", + "Pick the light brown bread with ridges up using the right arm and drop it in the black skillet with smooth base.", + "Pick up the bread with split top with the right arm and drop it in the round pan with hole in handle", + "Pick the golden bread loaf off the table and place it in the versatile skillet for stovetop cooking.", + "Take the bread with warm golden color with the right arm and drop into the round pan with hole in handle", + "Move the soft brown bread into the solid dark-colored round pan from the table", + "Grab the small golden brown bread from the table and set it in the heavy black cooking skillet.", + "Place the bread with golden-brown crust from the table into the round pan with hole in handle", + "Take the light brown loaf with smooth sides and put it in the versatile skillet for stovetop cooking.", + "Take the golden bread loaf and drop it into the medium black pan with handle.", + "Put the bread with golden-brown crust into the black skillet with smooth base after grabbing it", + "Lift the bread with golden-brown crust and drop it into the black skillet with smooth base.", + "Use the right arm to set the soft brown bread into the heavy black cooking skillet.", + "Take the smooth loaf with rounded edges and put it in the solid dark-colored round pan.", + "Lift the bread with split top and drop it into the dark pan with sturdy grip", + "Use the right arm to grab the bread with warm golden color for the solid dark-colored round pan", + "Pick up the small golden brown bread and place it in the skillet with extended grip handle.", + "Take the small golden brown bread and place it inside the versatile skillet for stovetop cooking", + "Use the right arm to place the light brown bread with ridges into the dark pan with sturdy grip", + "Grab the bread with split top with the right arm and place in the dark pan with sturdy grip", + "Grab the light brown bread with ridges using the right arm and place it in the flat-bottomed skillet with long handle", + "Use the right arm to take the small loaf with curved top and move it into the black skillet with smooth base.", + "Use the right arm to pick the small golden brown bread for the versatile skillet for stovetop cooking", + "Pick up the bread with golden-brown crust and put it in the solid dark-colored round pan", + "Place the small loaf with curved top into the versatile skillet for stovetop cooking with the right arm.", + "Use the right arm to grab the smooth loaf with rounded edges for the black pan with curved edges", + "Put the golden bread loaf into the heavy black cooking skillet.", + "Pick the small golden brown bread and transfer it to the medium black pan with handle", + "Transfer the hand-sized oval loaf into the black pan with curved edges from the table", + "Use the right arm to pick the hand-sized oval loaf up for the skillet with extended grip handle", + "Take the bread with golden-brown crust and set it into the skillet with extended grip handle", + "Grab the golden bread loaf and place it inside the medium black pan with handle.", + "Take the light brown bread with ridges off the table into the medium black pan with handle", + "Grab the light brown loaf with smooth sides and stick it in the heavy black cooking skillet.", + "Move the smooth loaf with rounded edges to the flat-bottomed skillet with long handle using the right arm", + "Use the right arm to lift the smooth loaf with rounded edges and place it into the round cooking pan.", + "Grab the bread with split top and place it inside the black pan with curved edges", + "Take the hand-sized oval loaf and place it inside the round cooking pan", + "Use the right arm to pick the golden bread loaf and place it into the smooth round pan made of iron.", + "Pick the soft brown bread with the right arm and set it in the round pan with hole in handle", + "Use the right arm to pick the bread with split top and put it in the black skillet with smooth base", + "Place the hand-sized oval loaf into the smooth round pan made of iron using the right arm", + "Grab the soft brown bread and drop it into the versatile skillet for stovetop cooking", + "Pick the bread with warm golden color and set it into the black pan with curved edges.", + "Use the right arm to move the light brown loaf with smooth sides and set it into the smooth round pan made of iron.", + "Move the small golden brown bread from table into the skillet with extended grip handle", + "Set the soft brown bread into the round cooking pan after grabbing", + "Use the right arm to stick the small loaf with curved top into the heavy black cooking skillet.", + "Lift the small loaf with curved top using the right arm and move it to the round pan with hole in handle", + "Use the right arm to move the small golden brown bread into the smooth round pan made of iron", + "Use the right arm to grab the golden bread loaf and set it in the solid dark-colored round pan.", + "Pick the light brown loaf with smooth sides up using the right arm and drop it in the versatile skillet for stovetop cooking.", + "Pick up the brown loaf with the right arm and drop it in the skillet with extended grip handle", + "Pick the golden bread loaf off the table and place it in the black pan with curved edges.", + "Take the bread with golden-brown crust with the right arm and drop into the black skillet with smooth base", + "Move the light brown bread with ridges into the round cooking pan from the table", + "Grab the small loaf with curved top from the table and set it in the round cooking pan.", + "Place the soft brown bread from the table into the black pan with curved edges", + "Take the light brown bread with ridges and put it in the black skillet with smooth base.", + "Take the bread with golden-brown crust and drop it into the medium black pan with handle.", + "Put the hand-sized oval loaf into the round pan with hole in handle after grabbing it", + "Lift the small golden brown bread and drop it into the skillet with extended grip handle.", + "Use the right arm to set the light brown bread with ridges into the solid dark-colored round pan.", + "Take the golden bread loaf and put it in the heavy black cooking skillet.", + "Lift the light brown loaf with smooth sides and drop it into the round pan with hole in handle", + "Use the right arm to grab the light brown loaf with smooth sides for the medium black pan with handle", + "Pick up the small loaf with curved top and place it in the black pan with curved edges.", + "Take the small golden brown bread and place it inside the medium black pan with handle", + "Use the right arm to place the brown loaf into the black skillet with smooth base", + "Grab the hand-sized oval loaf with the right arm and place in the round pan with hole in handle", + "Grab the bread with golden-brown crust using the right arm and place it in the flat-bottomed skillet with long handle", + "Use the right arm to take the golden bread loaf and move it into the smooth round pan made of iron.", + "Use the right arm to pick the hand-sized oval loaf for the flat-bottomed skillet with long handle" + ], + "unseen": [ + "Take the oval bread and put it in the round cast-iron skillet", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Grab the oval bread and place it into the black skillet.", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Grab the oval bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the black skillet.", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Take the oval-shaped soft bread and put it in the black skillet", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Grab the oval bread and set it in the black skillet", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Grab the oval bread and place it into the black skillet.", + "Move the rounded oval bread to the black skillet using the right arm.", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the oval bread and set it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Grab the oval bread and drop it into the iron skillet for frying foods.", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Pick up the rounded oval bread and drop it into the black skillet", + "Use the right arm to grab the oval bread and set it in the iron skillet for frying foods", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Take the oval bread and put it in the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval bread and drop it into the black skillet.", + "Grab the oval bread and place it into the black skillet.", + "Move the oval bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Pick up the rounded oval bread and drop it into the black skillet", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Grab the oval bread and place it in the black skillet", + "Take the oval bread and put it in the black skillet", + "Pick the oval bread up and place it in the black skillet", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Grab the oval bread and place it in the black skillet", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Pick up the rounded oval bread and drop it into the black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Take the rounded oval bread and put it in the black skillet", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Grab the oval bread and set it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Grab the oval bread and place it in the round cast-iron skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode37.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..e33a990000b6b045e65d9482d177ac587228b23b --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bread with rounded edges using the left arm and place it in the flat-bottomed skillet with long handle", + "Grab the medium bread with rounded sides with the left arm and place in the versatile skillet for stovetop cooking", + "Take the fluffy baked bread and put it in the medium black pan with handle.", + "Grab the square-shaped bread piece and drop it into the dark pan with sturdy grip", + "Use the left arm to grab the square-shaped bread piece for the medium black pan with handle", + "Use the left arm to move the rounded square loaf and set it into the skillet with extended grip handle.", + "Grab the rounded square loaf from the table and set it in the versatile skillet for stovetop cooking.", + "Lift the medium bread with rounded sides and drop it into the round cooking pan.", + "Take the light brown porous bread with the left arm and drop into the round pan with hole in handle", + "Use the left arm to pick the bread with soft texture for the black skillet with smooth base", + "Take the rounded square loaf and place it inside the dark pan with sturdy grip", + "Take the bread with rounded edges and drop it into the black pan with curved edges.", + "Use the left arm to place the fluffy baked bread into the solid dark-colored round pan", + "Place the medium-sized bread piece into the versatile skillet for stovetop cooking using the left arm", + "Take the rounded square loaf off the table into the heavy black cooking skillet", + "Set the sponge-textured golden bread into the solid dark-colored round pan after grabbing", + "Pick the golden baked bread with the left arm and set it in the smooth round pan made of iron", + "Use the left arm to move the rounded square loaf into the smooth round pan made of iron", + "Use the left arm to grab the medium bread with rounded sides and set it in the round pan with hole in handle.", + "Use the left arm to stick the medium-sized bread piece into the dark pan with sturdy grip.", + "Move the golden baked bread into the black skillet with smooth base from the table", + "Put the golden baked bread into the flat-bottomed skillet with long handle after grabbing it", + "Use the left arm to lift the soft square bread and place it into the black pan with curved edges.", + "Grab the golden baked bread and place it inside the skillet with extended grip handle.", + "Grab the sponge-textured golden bread and place it inside the flat-bottomed skillet with long handle", + "Place the square-shaped bread piece into the round pan with hole in handle with the left arm.", + "Lift the rounded square loaf using the left arm and move it to the solid dark-colored round pan", + "Move the golden baked bread to the flat-bottomed skillet with long handle using the left arm", + "Pick the golden baked bread and set it into the smooth round pan made of iron.", + "Lift the golden brown bread and drop it into the skillet with extended grip handle", + "Use the left arm to pick the soft square bread up for the solid dark-colored round pan", + "Pick up the medium bread with rounded sides and put it in the black pan with curved edges", + "Take the fluffy baked bread and place it inside the black skillet with smooth base", + "Use the left arm to take the bread with soft texture and move it into the versatile skillet for stovetop cooking.", + "Move the medium bread with rounded sides from table into the dark pan with sturdy grip", + "Take the golden baked bread and put it in the round cooking pan.", + "Pick the bread with rounded edges off the table and place it in the black skillet with smooth base.", + "Use the left arm to pick the medium-sized bread piece and put it in the medium black pan with handle", + "Use the left arm to grab the medium-sized bread piece for the solid dark-colored round pan", + "Put the rounded square loaf into the round pan with hole in handle.", + "Use the left arm to set the medium bread with rounded sides into the smooth round pan made of iron.", + "Pick the sponge-textured golden bread and transfer it to the black pan with curved edges", + "Use the left arm to pick the medium-sized bread piece and place it into the round pan with hole in handle.", + "Grab the light brown porous bread and stick it in the black skillet with smooth base.", + "Place the light brown porous bread from the table into the medium black pan with handle", + "Transfer the fluffy baked bread into the round pan with hole in handle from the table", + "Pick up the golden baked bread with the left arm and drop it in the round pan with hole in handle", + "Pick the sponge-textured golden bread up using the left arm and drop it in the medium black pan with handle.", + "Pick up the soft square bread and place it in the medium black pan with handle.", + "Take the golden brown bread and set it into the black skillet with smooth base", + "Grab the bread with rounded edges using the left arm and place it in the round cooking pan", + "Grab the square-shaped bread piece with the left arm and place in the black skillet with smooth base", + "Take the soft square bread and put it in the flat-bottomed skillet with long handle.", + "Grab the rounded square loaf and drop it into the flat-bottomed skillet with long handle", + "Use the left arm to grab the sponge-textured golden bread for the dark pan with sturdy grip", + "Use the left arm to move the medium bread with rounded sides and set it into the dark pan with sturdy grip.", + "Grab the medium bread with rounded sides from the table and set it in the versatile skillet for stovetop cooking.", + "Lift the golden brown bread and drop it into the solid dark-colored round pan.", + "Take the light brown porous bread with the left arm and drop into the round pan with hole in handle", + "Use the left arm to pick the light brown porous bread for the smooth round pan made of iron", + "Take the rounded square loaf and place it inside the black pan with curved edges", + "Take the square-shaped bread piece and drop it into the medium black pan with handle.", + "Use the left arm to place the golden baked bread into the dark pan with sturdy grip", + "Place the golden baked bread into the solid dark-colored round pan using the left arm", + "Take the square-shaped bread piece off the table into the flat-bottomed skillet with long handle", + "Set the light brown porous bread into the dark pan with sturdy grip after grabbing", + "Pick the light brown porous bread with the left arm and set it in the dark pan with sturdy grip", + "Use the left arm to move the golden baked bread into the versatile skillet for stovetop cooking", + "Use the left arm to grab the fluffy baked bread and set it in the flat-bottomed skillet with long handle.", + "Use the left arm to stick the golden baked bread into the smooth round pan made of iron.", + "Move the medium bread with rounded sides into the black pan with curved edges from the table", + "Put the bread with soft texture into the heavy black cooking skillet after grabbing it", + "Use the left arm to lift the medium bread with rounded sides and place it into the medium black pan with handle.", + "Grab the medium bread with rounded sides and place it inside the flat-bottomed skillet with long handle.", + "Grab the fluffy baked bread and place it inside the black pan with curved edges", + "Place the bread with rounded edges into the solid dark-colored round pan with the left arm.", + "Lift the light brown porous bread using the left arm and move it to the skillet with extended grip handle", + "Move the rounded square loaf to the dark pan with sturdy grip using the left arm", + "Pick the light brown porous bread and set it into the black skillet with smooth base.", + "Lift the medium-sized bread piece and drop it into the dark pan with sturdy grip", + "Use the left arm to pick the fluffy baked bread up for the medium black pan with handle", + "Pick up the golden brown bread and put it in the black skillet with smooth base", + "Take the bread with rounded edges and place it inside the versatile skillet for stovetop cooking", + "Use the left arm to take the light brown porous bread and move it into the round pan with hole in handle.", + "Move the medium-sized bread piece from table into the smooth round pan made of iron", + "Take the golden baked bread and put it in the solid dark-colored round pan.", + "Pick the bread with soft texture off the table and place it in the versatile skillet for stovetop cooking.", + "Use the left arm to pick the soft square bread and put it in the black pan with curved edges", + "Use the left arm to grab the medium-sized bread piece for the dark pan with sturdy grip", + "Put the soft square bread into the dark pan with sturdy grip.", + "Use the left arm to set the bread with rounded edges into the medium black pan with handle.", + "Pick the golden baked bread and transfer it to the flat-bottomed skillet with long handle", + "Use the left arm to pick the bread with soft texture and place it into the heavy black cooking skillet.", + "Grab the square-shaped bread piece and stick it in the black pan with curved edges.", + "Place the golden brown bread from the table into the solid dark-colored round pan", + "Transfer the golden brown bread into the medium black pan with handle from the table", + "Pick up the square-shaped bread piece with the left arm and drop it in the dark pan with sturdy grip", + "Pick the medium bread with rounded sides up using the left arm and drop it in the black skillet with smooth base.", + "Pick up the square-shaped bread piece and place it in the skillet with extended grip handle.", + "Take the soft square bread and set it into the black pan with curved edges" + ], + "unseen": [ + "Grab the soft bread with golden edges and drop it into the black skillet.", + "Move the soft bread with golden edges to the round cast-iron skillet using the left arm.", + "Use the left arm to move the square bread with light spots to the iron skillet for frying foods.", + "Take the spongy golden brown bread and put it in the iron skillet for frying foods", + "Pick the square bread with light spots up and place it in the iron skillet for frying foods", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Use the left arm to grab the square bread with light spots and set it in the round cast-iron skillet", + "Pick up the spongy golden brown bread and drop it into the round cast-iron skillet", + "Grab the spongy golden brown bread and set it in the black skillet", + "Grab the spongy golden brown bread and place it into the iron skillet for frying foods.", + "Grab the soft bread with golden edges and drop it into the black skillet.", + "Move the soft bread with golden edges to the black skillet using the left arm.", + "Use the left arm to move the square bread with light spots to the round cast-iron skillet.", + "Take the spongy golden brown bread and put it in the iron skillet for frying foods", + "Pick the soft bread with golden edges up and place it in the black skillet", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Use the left arm to grab the square bread with light spots and set it in the iron skillet for frying foods", + "Pick up the soft bread with golden edges and drop it into the iron skillet for frying foods", + "Grab the spongy golden brown bread and set it in the black skillet", + "Grab the soft bread with golden edges and place it into the iron skillet for frying foods.", + "Grab the square bread with light spots and drop it into the black skillet.", + "Move the spongy golden brown bread to the black skillet using the left arm.", + "Use the left arm to move the spongy golden brown bread to the iron skillet for frying foods.", + "Take the spongy golden brown bread and put it in the iron skillet for frying foods", + "Pick the soft bread with golden edges up and place it in the black skillet", + "Grab the spongy golden brown bread and place it in the iron skillet for frying foods", + "Use the left arm to grab the square bread with light spots and set it in the iron skillet for frying foods", + "Pick up the soft bread with golden edges and drop it into the black skillet", + "Grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Grab the spongy golden brown bread and place it into the black skillet.", + "Grab the soft bread with golden edges and drop it into the black skillet.", + "Move the spongy golden brown bread to the round cast-iron skillet using the left arm.", + "Use the left arm to move the spongy golden brown bread to the black skillet.", + "Take the square bread with light spots and put it in the iron skillet for frying foods", + "Pick the spongy golden brown bread up and place it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it in the iron skillet for frying foods", + "Use the left arm to grab the spongy golden brown bread and set it in the black skillet", + "Pick up the soft bread with golden edges and drop it into the iron skillet for frying foods", + "Grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Grab the square bread with light spots and place it into the black skillet.", + "Grab the spongy golden brown bread and drop it into the round cast-iron skillet.", + "Move the soft bread with golden edges to the black skillet using the left arm.", + "Use the left arm to move the soft bread with golden edges to the round cast-iron skillet.", + "Take the spongy golden brown bread and put it in the round cast-iron skillet", + "Pick the spongy golden brown bread up and place it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it in the round cast-iron skillet", + "Use the left arm to grab the square bread with light spots and set it in the black skillet", + "Pick up the spongy golden brown bread and drop it into the iron skillet for frying foods", + "Grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Grab the square bread with light spots and place it into the round cast-iron skillet.", + "Grab the soft bread with golden edges and drop it into the round cast-iron skillet.", + "Move the spongy golden brown bread to the black skillet using the left arm.", + "Use the left arm to move the spongy golden brown bread to the round cast-iron skillet.", + "Take the spongy golden brown bread and put it in the iron skillet for frying foods", + "Pick the spongy golden brown bread up and place it in the black skillet", + "Grab the soft bread with golden edges and place it in the black skillet", + "Use the left arm to grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Pick up the square bread with light spots and drop it into the black skillet", + "Grab the spongy golden brown bread and set it in the black skillet", + "Grab the square bread with light spots and place it into the black skillet.", + "Grab the square bread with light spots and drop it into the iron skillet for frying foods.", + "Move the square bread with light spots to the round cast-iron skillet using the left arm.", + "Use the left arm to move the spongy golden brown bread to the black skillet.", + "Take the square bread with light spots and put it in the black skillet", + "Pick the square bread with light spots up and place it in the black skillet", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Use the left arm to grab the square bread with light spots and set it in the black skillet", + "Pick up the spongy golden brown bread and drop it into the round cast-iron skillet", + "Grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Grab the spongy golden brown bread and place it into the iron skillet for frying foods.", + "Grab the square bread with light spots and drop it into the round cast-iron skillet.", + "Move the spongy golden brown bread to the iron skillet for frying foods using the left arm.", + "Use the left arm to move the square bread with light spots to the iron skillet for frying foods.", + "Take the soft bread with golden edges and put it in the round cast-iron skillet", + "Pick the soft bread with golden edges up and place it in the round cast-iron skillet", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Use the left arm to grab the square bread with light spots and set it in the iron skillet for frying foods", + "Pick up the square bread with light spots and drop it into the round cast-iron skillet", + "Grab the square bread with light spots and set it in the black skillet", + "Grab the square bread with light spots and place it into the black skillet.", + "Grab the square bread with light spots and drop it into the round cast-iron skillet.", + "Move the square bread with light spots to the black skillet using the left arm.", + "Use the left arm to move the soft bread with golden edges to the round cast-iron skillet.", + "Take the square bread with light spots and put it in the round cast-iron skillet", + "Pick the square bread with light spots up and place it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it in the iron skillet for frying foods", + "Use the left arm to grab the square bread with light spots and set it in the black skillet", + "Pick up the spongy golden brown bread and drop it into the iron skillet for frying foods", + "Grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it into the black skillet.", + "Grab the square bread with light spots and drop it into the round cast-iron skillet.", + "Move the spongy golden brown bread to the iron skillet for frying foods using the left arm.", + "Use the left arm to move the spongy golden brown bread to the round cast-iron skillet.", + "Take the spongy golden brown bread and put it in the iron skillet for frying foods", + "Pick the soft bread with golden edges up and place it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it in the iron skillet for frying foods", + "Use the left arm to grab the square bread with light spots and set it in the round cast-iron skillet", + "Pick up the spongy golden brown bread and drop it into the round cast-iron skillet", + "Grab the spongy golden brown bread and set it in the black skillet", + "Grab the square bread with light spots and place it into the iron skillet for frying foods." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode38.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..02cbda3c15600089eec11e6d4d6b9aedfb1fde7c --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the golden bread and transfer it to the smooth non-stick skillet", + "Lift the bread with golden surface color using the right arm and move it to the medium-sized frying skillet", + "Pick the bread loaf with square shape and set it into the round skillet with open handle end.", + "Take the brown bread loaf and place it inside the gray skillet for stovetop cooking", + "Take the golden brown loaf-shaped bread with the right arm and drop into the skillet with black cooking surface", + "Pick up the golden bread and place it in the metal skillet with comfortable grip.", + "Use the right arm to pick the brown bread loaf for the dark gray skillet", + "Lift the bread with rounded corners and drop it into the dark gray skillet", + "Put the bread loaf with square shape into the metal skillet after grabbing it", + "Place the bread with rounded corners into the metal skillet with comfortable grip with the right arm.", + "Transfer the bread loaf with square shape into the metal skillet with comfortable grip from the table", + "Pick the square loaf of bread with the right arm and set it in the dark gray skillet", + "Pick up the bread with firm crust edges with the right arm and drop it in the black-surfaced skillet with gray sides", + "Move the bread with rounded corners into the metal skillet with comfortable grip from the table", + "Pick up the soft golden baked bread and put it in the flat-bottom skillet", + "Place the bread loaf with square shape into the black-surfaced skillet with gray sides using the right arm", + "Use the right arm to move the soft golden baked bread into the medium-sized frying skillet", + "Use the right arm to place the rectangular bread soft inside into the black-surfaced skillet with gray sides", + "Grab the bread with firm crust edges and place it inside the metal skillet with comfortable grip.", + "Lift the bread loaf with square shape and drop it into the medium-sized frying skillet.", + "Use the right arm to lift the golden brown loaf-shaped bread and place it into the skillet for frying food.", + "Use the right arm to pick the bread with firm crust edges and put it in the black-surfaced skillet with gray sides", + "Put the bread with golden surface color into the round skillet with open handle end.", + "Grab the brown bread loaf with the right arm and place in the round skillet with open handle end", + "Move the bread with golden surface color to the metal skillet with comfortable grip using the right arm", + "Use the right arm to take the golden brown loaf-shaped bread and move it into the round skillet with handle.", + "Use the right arm to pick the bread with firm crust edges up for the smooth non-stick skillet", + "Set the slice-shaped bread into the medium-sized frying skillet after grabbing", + "Use the right arm to grab the golden bread and set it in the metal skillet.", + "Pick the bread with golden surface color up using the right arm and drop it in the smooth non-stick skillet.", + "Use the right arm to grab the bread with rounded corners for the medium-sized frying skillet", + "Grab the slice-shaped bread from the table and set it in the metal skillet.", + "Take the soft golden baked bread and set it into the skillet with black cooking surface", + "Pick the bread with golden surface color off the table and place it in the medium-sized frying skillet.", + "Place the slice-shaped bread from the table into the round skillet with handle", + "Use the right arm to set the rectangular bread soft inside into the metal skillet with comfortable grip.", + "Use the right arm to stick the soft golden baked bread into the metal skillet.", + "Move the brown bread loaf from table into the smooth non-stick skillet", + "Take the golden brown loaf-shaped bread and drop it into the round skillet with handle.", + "Use the right arm to move the brown bread loaf and set it into the gray skillet for stovetop cooking.", + "Grab the golden brown loaf-shaped bread and place it inside the flat-bottom skillet", + "Grab the bread with rounded corners using the right arm and place it in the metal skillet", + "Take the bread loaf with square shape off the table into the metal skillet", + "Grab the golden brown loaf-shaped bread and stick it in the round skillet with open handle end.", + "Grab the bread with rounded corners and drop it into the dark gray skillet", + "Use the right arm to grab the slice-shaped bread for the gray skillet for stovetop cooking", + "Take the square loaf of bread and place it inside the smooth non-stick skillet", + "Take the slice-shaped bread and put it in the gray skillet for stovetop cooking.", + "Use the right arm to pick the square loaf of bread and place it into the black-surfaced skillet with gray sides.", + "Take the bread with golden surface color and put it in the metal skillet with comfortable grip.", + "Pick the slice-shaped bread and transfer it to the smooth non-stick skillet", + "Lift the brown bread loaf using the right arm and move it to the round skillet with open handle end", + "Pick the soft golden baked bread and set it into the metal skillet with comfortable grip.", + "Take the bread with rounded corners and place it inside the metal skillet with comfortable grip", + "Take the golden bread with the right arm and drop into the smooth non-stick skillet", + "Pick up the golden bread and place it in the round skillet with open handle end.", + "Use the right arm to pick the brown bread loaf for the metal skillet with comfortable grip", + "Lift the bread with rounded corners and drop it into the round skillet with handle", + "Put the bread loaf with square shape into the skillet with black cooking surface after grabbing it", + "Place the brown bread loaf into the gray skillet for stovetop cooking with the right arm.", + "Transfer the bread loaf with square shape into the dark gray skillet from the table", + "Pick the slice-shaped bread with the right arm and set it in the metal skillet with comfortable grip", + "Pick up the bread with golden surface color with the right arm and drop it in the flat-bottom skillet", + "Move the golden crusted bread slice into the metal skillet with comfortable grip from the table", + "Pick up the golden brown loaf-shaped bread and put it in the round skillet with handle", + "Place the soft golden baked bread into the metal skillet with comfortable grip using the right arm", + "Use the right arm to move the square loaf of bread into the black-surfaced skillet with gray sides", + "Use the right arm to place the slice-shaped bread into the metal skillet with comfortable grip", + "Grab the golden bread and place it inside the smooth non-stick skillet.", + "Lift the bread with golden surface color and drop it into the metal skillet.", + "Use the right arm to lift the rectangular bread soft inside and place it into the skillet for frying food.", + "Use the right arm to pick the golden brown loaf-shaped bread and put it in the dark gray skillet", + "Put the bread loaf with square shape into the metal skillet with comfortable grip.", + "Grab the bread with firm crust edges with the right arm and place in the dark gray skillet", + "Move the square loaf of bread to the round skillet with open handle end using the right arm", + "Use the right arm to take the slice-shaped bread and move it into the metal skillet with comfortable grip.", + "Use the right arm to pick the bread with rounded corners up for the metal skillet with comfortable grip", + "Set the slice-shaped bread into the black-surfaced skillet with gray sides after grabbing", + "Use the right arm to grab the bread with golden surface color and set it in the gray skillet for stovetop cooking.", + "Pick the bread with golden surface color up using the right arm and drop it in the skillet for frying food.", + "Use the right arm to grab the bread loaf with square shape for the black-surfaced skillet with gray sides", + "Grab the bread with golden surface color from the table and set it in the round skillet with handle.", + "Take the bread with rounded corners and set it into the metal skillet", + "Pick the slice-shaped bread off the table and place it in the round skillet with handle.", + "Place the golden brown loaf-shaped bread from the table into the skillet with black cooking surface", + "Use the right arm to set the soft golden baked bread into the skillet for frying food.", + "Use the right arm to stick the golden crusted bread slice into the dark gray skillet.", + "Move the bread with golden surface color from table into the gray skillet for stovetop cooking", + "Take the golden brown loaf-shaped bread and drop it into the skillet for frying food.", + "Use the right arm to move the slice-shaped bread and set it into the metal skillet.", + "Grab the bread with firm crust edges and place it inside the metal skillet", + "Grab the bread loaf with square shape using the right arm and place it in the metal skillet with comfortable grip", + "Take the golden brown loaf-shaped bread off the table into the medium-sized frying skillet", + "Grab the square loaf of bread and stick it in the skillet for frying food.", + "Grab the golden brown loaf-shaped bread and drop it into the metal skillet", + "Use the right arm to grab the soft golden baked bread for the round skillet with open handle end", + "Take the square loaf of bread and place it inside the round skillet with open handle end", + "Take the soft golden baked bread and put it in the medium-sized frying skillet.", + "Use the right arm to pick the golden brown loaf-shaped bread and place it into the smooth non-stick skillet.", + "Take the bread with firm crust edges and put it in the dark gray skillet." + ], + "unseen": [ + "Grab the soft rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and place it in the dark skillet with shiny finish", + "Pick the bread loaf medium-sized up and place it in the dark skillet with shiny finish", + "Pick up the soft rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Take the small loaf-shaped bread and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the small loaf-shaped bread to the pan-shaped skillet with hole in handle.", + "Grab the small loaf-shaped bread and place it into the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Move the small loaf-shaped bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Grab the small loaf-shaped bread and place it in the dark skillet with shiny finish", + "Pick the bread loaf medium-sized up and place it in the dark skillet with shiny finish", + "Pick up the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Take the small loaf-shaped bread and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the soft rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Grab the small loaf-shaped bread and place it into the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Move the bread loaf medium-sized to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the small loaf-shaped bread and place it in the dark skillet with shiny finish", + "Pick the bread loaf medium-sized up and place it in the dark skillet with shiny finish", + "Pick up the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Take the bread loaf medium-sized and put it in the versatile skillet for frying and sauteing", + "Use the right arm to move the soft rectangular bread loaf to the dark skillet with shiny finish.", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Move the bread loaf medium-sized to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Grab the small loaf-shaped bread and place it in the versatile skillet for frying and sauteing", + "Pick the small loaf-shaped bread up and place it in the dark skillet with shiny finish", + "Pick up the small loaf-shaped bread and drop it into the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Take the bread loaf medium-sized and put it in the dark skillet with shiny finish", + "Use the right arm to move the soft rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and place it in the dark skillet with shiny finish", + "Pick the bread loaf medium-sized up and place it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Use the right arm to move the bread loaf medium-sized to the pan-shaped skillet with hole in handle.", + "Grab the soft rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Move the bread loaf medium-sized to the versatile skillet for frying and sauteing using the right arm.", + "Grab the small loaf-shaped bread and drop it into the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and place it in the versatile skillet for frying and sauteing", + "Pick the soft rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Take the small loaf-shaped bread and put it in the dark skillet with shiny finish", + "Use the right arm to move the bread loaf medium-sized to the pan-shaped skillet with hole in handle.", + "Grab the soft rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Use the right arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Move the soft rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Grab the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the small loaf-shaped bread and place it in the pan-shaped skillet with hole in handle", + "Pick the bread loaf medium-sized up and place it in the versatile skillet for frying and sauteing", + "Pick up the small loaf-shaped bread and drop it into the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Use the right arm to move the small loaf-shaped bread to the dark skillet with shiny finish.", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Move the bread loaf medium-sized to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and place it in the versatile skillet for frying and sauteing", + "Pick the bread loaf medium-sized up and place it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Take the bread loaf medium-sized and put it in the versatile skillet for frying and sauteing", + "Use the right arm to move the soft rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread loaf medium-sized and drop it into the dark skillet with shiny finish.", + "Grab the soft rectangular bread loaf and place it in the dark skillet with shiny finish", + "Pick the small loaf-shaped bread up and place it in the dark skillet with shiny finish", + "Pick up the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Take the small loaf-shaped bread and put it in the dark skillet with shiny finish", + "Use the right arm to move the soft rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and place it into the dark skillet with shiny finish.", + "Use the right arm to grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Move the soft rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Grab the small loaf-shaped bread and drop it into the dark skillet with shiny finish.", + "Grab the bread loaf medium-sized and place it in the pan-shaped skillet with hole in handle", + "Pick the bread loaf medium-sized up and place it in the dark skillet with shiny finish", + "Pick up the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Take the soft rectangular bread loaf and put it in the dark skillet with shiny finish", + "Use the right arm to move the small loaf-shaped bread to the pan-shaped skillet with hole in handle." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode39.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..57d0e91b38706d1bbc776cb59b33d8252b2bc5ba --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the round bread with braided top and drop it into the smooth round pan made of iron", + "Take the golden brown bread and place it inside the medium black pan with handle", + "Pick the round bread with crusty texture and transfer it to the black skillet with smooth base", + "Use the right arm to pick the bread with golden crust and put it in the skillet with extended grip handle", + "Take the braided bread loaf and set it into the smooth round pan made of iron", + "Take the soft golden bread off the table into the round cooking pan", + "Lift the golden brown bread and drop it into the versatile skillet for stovetop cooking.", + "Move the braided bread loaf into the round pan with hole in handle from the table", + "Use the right arm to grab the golden brown bread and set it in the skillet with extended grip handle.", + "Take the smooth crusty small bread and drop it into the black skillet with smooth base.", + "Move the round bread with braided top to the smooth round pan made of iron using the right arm", + "Use the right arm to take the smooth crusty small bread and move it into the black skillet with smooth base.", + "Lift the golden brown bread with braided design using the right arm and move it to the solid dark-colored round pan", + "Use the right arm to pick the small bread for the black pan with curved edges", + "Put the golden bread loaf with soft inside into the flat-bottomed skillet with long handle.", + "Grab the small bread using the right arm and place it in the black pan with curved edges", + "Use the right arm to set the golden brown bread into the round pan with hole in handle.", + "Use the right arm to place the soft doughy bread into the smooth round pan made of iron", + "Use the right arm to grab the round bread with braided top for the round cooking pan", + "Put the golden brown bread with braided design into the solid dark-colored round pan after grabbing it", + "Use the right arm to grab the round bread with crusty texture for the round pan with hole in handle", + "Pick up the small golden baked bread and put it in the solid dark-colored round pan", + "Grab the small golden baked bread and place it inside the flat-bottomed skillet with long handle.", + "Pick the smooth crusty small bread with the right arm and set it in the round cooking pan", + "Place the golden brown bread with braided design from the table into the skillet with extended grip handle", + "Grab the small golden baked bread and stick it in the flat-bottomed skillet with long handle.", + "Grab the small bread and drop it into the flat-bottomed skillet with long handle", + "Grab the golden brown bread with braided design with the right arm and place in the solid dark-colored round pan", + "Grab the golden bread loaf with soft inside from the table and set it in the smooth round pan made of iron.", + "Use the right arm to lift the round bread with crusty texture and place it into the flat-bottomed skillet with long handle.", + "Transfer the round bread with braided top into the round cooking pan from the table", + "Pick the soft doughy bread off the table and place it in the smooth round pan made of iron.", + "Use the right arm to move the bread with golden crust and set it into the flat-bottomed skillet with long handle.", + "Move the bread with golden crust from table into the medium black pan with handle", + "Use the right arm to stick the braided bread loaf into the black skillet with smooth base.", + "Use the right arm to move the small golden baked bread into the solid dark-colored round pan", + "Place the golden brown bread into the versatile skillet for stovetop cooking with the right arm.", + "Place the soft doughy bread into the dark pan with sturdy grip using the right arm", + "Pick up the bread with golden crust and place it in the skillet with extended grip handle.", + "Take the braided bread loaf and place it inside the black skillet with smooth base", + "Use the right arm to pick the bread with golden crust up for the heavy black cooking skillet", + "Take the soft doughy bread and put it in the black skillet with smooth base.", + "Take the golden brown bread with the right arm and drop into the skillet with extended grip handle", + "Grab the small bread and place it inside the medium black pan with handle", + "Set the bread with golden crust into the flat-bottomed skillet with long handle after grabbing", + "Pick the golden brown bread with braided design and set it into the skillet with extended grip handle.", + "Take the smooth crusty small bread and put it in the round pan with hole in handle.", + "Use the right arm to pick the smooth crusty small bread and place it into the black pan with curved edges.", + "Pick up the braided bread loaf with the right arm and drop it in the solid dark-colored round pan", + "Pick the soft doughy bread up using the right arm and drop it in the round cooking pan.", + "Lift the bread with golden crust and drop it into the skillet with extended grip handle", + "Take the golden brown bread and place it inside the heavy black cooking skillet", + "Pick the small golden baked bread and transfer it to the black skillet with smooth base", + "Use the right arm to pick the round bread with crusty texture and put it in the versatile skillet for stovetop cooking", + "Take the small bread and set it into the flat-bottomed skillet with long handle", + "Take the small golden baked bread off the table into the skillet with extended grip handle", + "Lift the golden brown bread with braided design and drop it into the round cooking pan.", + "Move the small bread into the round pan with hole in handle from the table", + "Use the right arm to grab the soft doughy bread and set it in the solid dark-colored round pan.", + "Take the round bread with crusty texture and drop it into the medium black pan with handle.", + "Move the round bread with braided top to the flat-bottomed skillet with long handle using the right arm", + "Use the right arm to take the small golden baked bread and move it into the dark pan with sturdy grip.", + "Lift the small golden baked bread using the right arm and move it to the medium black pan with handle", + "Use the right arm to pick the golden brown bread with braided design for the round pan with hole in handle", + "Put the soft golden bread into the smooth round pan made of iron.", + "Grab the small golden baked bread using the right arm and place it in the flat-bottomed skillet with long handle", + "Use the right arm to set the soft golden bread into the heavy black cooking skillet.", + "Use the right arm to place the soft doughy bread into the skillet with extended grip handle", + "Use the right arm to grab the golden brown bread with braided design for the skillet with extended grip handle", + "Put the small bread into the smooth round pan made of iron after grabbing it", + "Use the right arm to grab the soft golden bread for the heavy black cooking skillet", + "Pick up the smooth crusty small bread and put it in the skillet with extended grip handle", + "Grab the braided bread loaf and place it inside the medium black pan with handle.", + "Pick the golden bread loaf with soft inside with the right arm and set it in the flat-bottomed skillet with long handle", + "Place the round bread with braided top from the table into the medium black pan with handle", + "Grab the round bread with crusty texture and stick it in the solid dark-colored round pan.", + "Grab the soft golden bread and drop it into the black pan with curved edges", + "Grab the braided bread loaf with the right arm and place in the solid dark-colored round pan", + "Grab the smooth crusty small bread from the table and set it in the smooth round pan made of iron.", + "Use the right arm to lift the soft doughy bread and place it into the smooth round pan made of iron.", + "Transfer the braided bread loaf into the flat-bottomed skillet with long handle from the table", + "Pick the bread with golden crust off the table and place it in the solid dark-colored round pan.", + "Use the right arm to move the round bread with braided top and set it into the versatile skillet for stovetop cooking.", + "Move the braided bread loaf from table into the dark pan with sturdy grip", + "Use the right arm to stick the soft golden bread into the solid dark-colored round pan.", + "Use the right arm to move the soft doughy bread into the dark pan with sturdy grip", + "Place the small golden baked bread into the dark pan with sturdy grip with the right arm.", + "Place the bread with golden crust into the skillet with extended grip handle using the right arm", + "Pick up the braided bread loaf and place it in the dark pan with sturdy grip.", + "Take the bread with golden crust and place it inside the heavy black cooking skillet", + "Use the right arm to pick the golden bread loaf with soft inside up for the solid dark-colored round pan", + "Take the soft doughy bread and put it in the dark pan with sturdy grip.", + "Take the small bread with the right arm and drop into the flat-bottomed skillet with long handle", + "Grab the golden bread loaf with soft inside and place it inside the round cooking pan", + "Set the smooth crusty small bread into the dark pan with sturdy grip after grabbing", + "Pick the bread with golden crust and set it into the round pan with hole in handle.", + "Take the bread with golden crust and put it in the dark pan with sturdy grip.", + "Use the right arm to pick the round bread with braided top and place it into the versatile skillet for stovetop cooking.", + "Pick up the golden brown bread with the right arm and drop it in the black skillet with smooth base", + "Pick the round bread with crusty texture up using the right arm and drop it in the flat-bottomed skillet with long handle." + ], + "unseen": [ + "Use the right arm to move the palm-sized braided golden bread to the black skillet.", + "Grab the palm-sized braided golden bread and place it into the iron skillet for frying foods.", + "Use the right arm to grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and set it in the black skillet", + "Grab the braided top round bread and drop it into the iron skillet for frying foods.", + "Pick the round braided loaf up and place it in the iron skillet for frying foods", + "Grab the braided top round bread and place it in the iron skillet for frying foods", + "Move the round braided loaf to the iron skillet for frying foods using the right arm.", + "Pick up the braided top round bread and drop it into the round cast-iron skillet", + "Take the braided top round bread and put it in the black skillet", + "Use the right arm to move the braided top round bread to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and place it into the round cast-iron skillet.", + "Use the right arm to grab the round braided loaf and set it in the black skillet", + "Grab the braided top round bread and set it in the iron skillet for frying foods", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Pick the palm-sized braided golden bread up and place it in the iron skillet for frying foods", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Move the palm-sized braided golden bread to the iron skillet for frying foods using the right arm.", + "Pick up the round braided loaf and drop it into the iron skillet for frying foods", + "Take the round braided loaf and put it in the black skillet", + "Use the right arm to move the braided top round bread to the black skillet.", + "Grab the palm-sized braided golden bread and place it into the black skillet.", + "Use the right arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Grab the round braided loaf and drop it into the black skillet.", + "Pick the braided top round bread up and place it in the iron skillet for frying foods", + "Grab the braided top round bread and place it in the round cast-iron skillet", + "Move the round braided loaf to the black skillet using the right arm.", + "Pick up the braided top round bread and drop it into the black skillet", + "Take the palm-sized braided golden bread and put it in the round cast-iron skillet", + "Use the right arm to move the round braided loaf to the black skillet.", + "Grab the palm-sized braided golden bread and place it into the round cast-iron skillet.", + "Use the right arm to grab the braided top round bread and set it in the black skillet", + "Grab the round braided loaf and set it in the round cast-iron skillet", + "Grab the braided top round bread and drop it into the iron skillet for frying foods.", + "Pick the braided top round bread up and place it in the iron skillet for frying foods", + "Grab the braided top round bread and place it in the round cast-iron skillet", + "Move the round braided loaf to the black skillet using the right arm.", + "Pick up the round braided loaf and drop it into the round cast-iron skillet", + "Take the palm-sized braided golden bread and put it in the round cast-iron skillet", + "Use the right arm to move the round braided loaf to the black skillet.", + "Grab the round braided loaf and place it into the black skillet.", + "Use the right arm to grab the round braided loaf and set it in the black skillet", + "Grab the round braided loaf and set it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and drop it into the iron skillet for frying foods.", + "Pick the braided top round bread up and place it in the black skillet", + "Grab the palm-sized braided golden bread and place it in the round cast-iron skillet", + "Move the palm-sized braided golden bread to the black skillet using the right arm.", + "Pick up the braided top round bread and drop it into the iron skillet for frying foods", + "Take the braided top round bread and put it in the iron skillet for frying foods", + "Use the right arm to move the braided top round bread to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and place it into the black skillet.", + "Use the right arm to grab the braided top round bread and set it in the iron skillet for frying foods", + "Grab the braided top round bread and set it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and drop it into the iron skillet for frying foods.", + "Pick the round braided loaf up and place it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and place it in the black skillet", + "Move the round braided loaf to the round cast-iron skillet using the right arm.", + "Pick up the braided top round bread and drop it into the round cast-iron skillet", + "Take the round braided loaf and put it in the black skillet", + "Use the right arm to move the round braided loaf to the black skillet.", + "Grab the palm-sized braided golden bread and place it into the black skillet.", + "Use the right arm to grab the round braided loaf and set it in the black skillet", + "Grab the round braided loaf and set it in the black skillet", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Pick the round braided loaf up and place it in the black skillet", + "Grab the palm-sized braided golden bread and place it in the black skillet", + "Move the braided top round bread to the round cast-iron skillet using the right arm.", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Take the palm-sized braided golden bread and put it in the round cast-iron skillet", + "Use the right arm to move the round braided loaf to the iron skillet for frying foods.", + "Grab the braided top round bread and place it into the round cast-iron skillet.", + "Use the right arm to grab the braided top round bread and set it in the round cast-iron skillet", + "Grab the round braided loaf and set it in the black skillet", + "Grab the braided top round bread and drop it into the iron skillet for frying foods.", + "Pick the braided top round bread up and place it in the black skillet", + "Grab the palm-sized braided golden bread and place it in the round cast-iron skillet", + "Move the braided top round bread to the iron skillet for frying foods using the right arm.", + "Pick up the round braided loaf and drop it into the iron skillet for frying foods", + "Take the round braided loaf and put it in the black skillet", + "Use the right arm to move the palm-sized braided golden bread to the round cast-iron skillet.", + "Grab the round braided loaf and place it into the black skillet.", + "Use the right arm to grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Grab the braided top round bread and set it in the iron skillet for frying foods", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Pick the round braided loaf up and place it in the iron skillet for frying foods", + "Grab the braided top round bread and place it in the iron skillet for frying foods", + "Move the round braided loaf to the iron skillet for frying foods using the right arm.", + "Pick up the round braided loaf and drop it into the black skillet", + "Take the braided top round bread and put it in the iron skillet for frying foods", + "Use the right arm to move the palm-sized braided golden bread to the round cast-iron skillet.", + "Grab the palm-sized braided golden bread and place it into the black skillet.", + "Use the right arm to grab the braided top round bread and set it in the round cast-iron skillet", + "Grab the braided top round bread and set it in the round cast-iron skillet", + "Grab the braided top round bread and drop it into the black skillet.", + "Pick the round braided loaf up and place it in the round cast-iron skillet", + "Grab the braided top round bread and place it in the round cast-iron skillet", + "Move the round braided loaf to the black skillet using the right arm.", + "Pick up the braided top round bread and drop it into the black skillet", + "Take the palm-sized braided golden bread and put it in the round cast-iron skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode4.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..1d820a3c92c4d8c24b07cdaac0ef235c1f35e3d8 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bread with warm golden color and stick it in the flat-bottom skillet.", + "Grab the brown loaf and drop it into the round skillet with open handle end", + "Pick the golden bread loaf up using the left arm and drop it in the flat-bottom skillet.", + "Use the left arm to lift the golden bread loaf and place it into the metal skillet with comfortable grip.", + "Use the left arm to grab the hand-sized oval loaf for the dark gray skillet", + "Take the light brown bread with ridges and put it in the medium-sized frying skillet.", + "Use the left arm to take the bread with split top and move it into the medium-sized frying skillet.", + "Use the left arm to grab the bread with split top and set it in the skillet for frying food.", + "Take the smooth loaf with rounded edges and place it inside the gray skillet for stovetop cooking", + "Grab the soft brown bread and place it inside the skillet with black cooking surface", + "Pick up the small loaf with curved top and put it in the metal skillet with comfortable grip", + "Use the left arm to pick the bread with golden-brown crust and place it into the skillet with black cooking surface.", + "Move the light brown bread with ridges from table into the dark gray skillet", + "Pick the small loaf with curved top off the table and place it in the dark gray skillet.", + "Use the left arm to set the bread with warm golden color into the medium-sized frying skillet.", + "Lift the bread with golden-brown crust using the left arm and move it to the skillet with black cooking surface", + "Take the brown loaf and put it in the smooth non-stick skillet.", + "Pick the light brown bread with ridges with the left arm and set it in the metal skillet with comfortable grip", + "Use the left arm to grab the bread with split top for the gray skillet for stovetop cooking", + "Take the hand-sized oval loaf and place it inside the round skillet with open handle end", + "Take the small golden brown bread and set it into the gray skillet for stovetop cooking", + "Transfer the smooth loaf with rounded edges into the smooth non-stick skillet from the table", + "Place the light brown bread with ridges into the skillet with black cooking surface using the left arm", + "Take the small loaf with curved top off the table into the dark gray skillet", + "Place the bread with split top from the table into the skillet for frying food", + "Pick the golden bread loaf and set it into the skillet for frying food.", + "Move the brown loaf into the round skillet with handle from the table", + "Move the bread with split top to the round skillet with handle using the left arm", + "Grab the light brown bread with ridges and place it inside the round skillet with handle.", + "Put the light brown bread with ridges into the black-surfaced skillet with gray sides after grabbing it", + "Lift the small golden brown bread and drop it into the dark gray skillet.", + "Use the left arm to stick the bread with warm golden color into the dark gray skillet.", + "Use the left arm to pick the brown loaf for the smooth non-stick skillet", + "Pick up the small loaf with curved top with the left arm and drop it in the round skillet with handle", + "Place the golden bread loaf into the medium-sized frying skillet with the left arm.", + "Pick the light brown bread with ridges and transfer it to the black-surfaced skillet with gray sides", + "Set the brown loaf into the round skillet with handle after grabbing", + "Take the soft brown bread with the left arm and drop into the dark gray skillet", + "Use the left arm to move the light brown bread with ridges and set it into the metal skillet with comfortable grip.", + "Grab the light brown bread with ridges with the left arm and place in the flat-bottom skillet", + "Grab the bread with split top from the table and set it in the metal skillet.", + "Grab the small loaf with curved top using the left arm and place it in the dark gray skillet", + "Put the golden bread loaf into the skillet for frying food.", + "Use the left arm to pick the brown loaf up for the dark gray skillet", + "Use the left arm to move the hand-sized oval loaf into the round skillet with handle", + "Lift the light brown bread with ridges and drop it into the gray skillet for stovetop cooking", + "Use the left arm to pick the small loaf with curved top and put it in the dark gray skillet", + "Use the left arm to place the hand-sized oval loaf into the smooth non-stick skillet", + "Pick up the soft brown bread and place it in the skillet with black cooking surface.", + "Take the brown loaf and drop it into the round skillet with open handle end.", + "Grab the hand-sized oval loaf and stick it in the flat-bottom skillet.", + "Grab the hand-sized oval loaf and drop it into the round skillet with handle", + "Pick the hand-sized oval loaf up using the left arm and drop it in the medium-sized frying skillet.", + "Use the left arm to lift the brown loaf and place it into the round skillet with handle.", + "Use the left arm to grab the golden bread loaf for the gray skillet for stovetop cooking", + "Take the bread with split top and put it in the medium-sized frying skillet.", + "Use the left arm to take the light brown bread with ridges and move it into the metal skillet with comfortable grip.", + "Use the left arm to grab the bread with warm golden color and set it in the smooth non-stick skillet.", + "Take the brown loaf and place it inside the dark gray skillet", + "Grab the golden bread loaf and place it inside the flat-bottom skillet", + "Pick up the small loaf with curved top and put it in the metal skillet with comfortable grip", + "Use the left arm to pick the light brown bread with ridges and place it into the metal skillet.", + "Move the brown loaf from table into the metal skillet with comfortable grip", + "Pick the small loaf with curved top off the table and place it in the metal skillet with comfortable grip.", + "Use the left arm to set the golden bread loaf into the skillet for frying food.", + "Lift the soft brown bread using the left arm and move it to the dark gray skillet", + "Take the small loaf with curved top and put it in the skillet for frying food.", + "Pick the bread with golden-brown crust with the left arm and set it in the black-surfaced skillet with gray sides", + "Use the left arm to grab the bread with warm golden color for the round skillet with open handle end", + "Take the small golden brown bread and place it inside the medium-sized frying skillet", + "Take the small loaf with curved top and set it into the skillet for frying food", + "Transfer the hand-sized oval loaf into the round skillet with handle from the table", + "Place the soft brown bread into the black-surfaced skillet with gray sides using the left arm", + "Take the light brown bread with ridges off the table into the skillet with black cooking surface", + "Place the bread with warm golden color from the table into the skillet for frying food", + "Pick the golden bread loaf and set it into the skillet for frying food.", + "Move the brown loaf into the metal skillet with comfortable grip from the table", + "Move the bread with warm golden color to the metal skillet with comfortable grip using the left arm", + "Grab the hand-sized oval loaf and place it inside the round skillet with open handle end.", + "Put the brown loaf into the gray skillet for stovetop cooking after grabbing it", + "Lift the brown loaf and drop it into the flat-bottom skillet.", + "Use the left arm to stick the golden bread loaf into the skillet for frying food.", + "Use the left arm to pick the small golden brown bread for the medium-sized frying skillet", + "Pick up the small loaf with curved top with the left arm and drop it in the skillet with black cooking surface", + "Place the light brown bread with ridges into the medium-sized frying skillet with the left arm.", + "Pick the small loaf with curved top and transfer it to the black-surfaced skillet with gray sides", + "Set the light brown loaf with smooth sides into the skillet with black cooking surface after grabbing", + "Take the brown loaf with the left arm and drop into the gray skillet for stovetop cooking", + "Use the left arm to move the light brown loaf with smooth sides and set it into the round skillet with open handle end.", + "Grab the smooth loaf with rounded edges with the left arm and place in the metal skillet with comfortable grip", + "Grab the bread with split top from the table and set it in the black-surfaced skillet with gray sides.", + "Grab the small loaf with curved top using the left arm and place it in the medium-sized frying skillet", + "Put the soft brown bread into the skillet with black cooking surface.", + "Use the left arm to pick the light brown loaf with smooth sides up for the metal skillet with comfortable grip", + "Use the left arm to move the bread with warm golden color into the gray skillet for stovetop cooking", + "Lift the small loaf with curved top and drop it into the round skillet with open handle end", + "Use the left arm to pick the brown loaf and put it in the black-surfaced skillet with gray sides", + "Use the left arm to place the small loaf with curved top into the skillet with black cooking surface", + "Pick up the smooth loaf with rounded edges and place it in the medium-sized frying skillet.", + "Take the smooth loaf with rounded edges and drop it into the medium-sized frying skillet." + ], + "unseen": [ + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Move the oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Move the oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Use the left arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Use the left arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Use the left arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the oval bread to the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Use the left arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Move the rounded oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode40.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..82f9f458177c9ee65e3c71cf27143c40cb5aaef6 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the soft brown bread from the table and set it in the rounded skillet with a holey handle.", + "Put the bread with split top into the round skillet with handle after grabbing it", + "Move the light brown bread with ridges into the gray pan from the table", + "Place the hand-sized oval loaf into the smooth round cooking skillet using the right arm", + "Pick up the brown loaf with the right arm and drop it in the gray cooking pan with handle", + "Use the right arm to pick the bread with golden-brown crust and put it in the rounded skillet with a holey handle", + "Take the hand-sized oval loaf and put it in the round skillet with handle.", + "Take the bread with warm golden color and place it inside the smooth cast iron skillet", + "Pick the hand-sized oval loaf with the right arm and set it in the smooth round cooking skillet", + "Grab the brown loaf and drop it into the hefty black skillet", + "Take the light brown loaf with smooth sides and place it inside the gray pan", + "Use the right arm to pick the brown loaf and place it into the hefty black skillet.", + "Pick the hand-sized oval loaf off the table and place it in the hefty black skillet.", + "Transfer the light brown loaf with smooth sides into the medium round cast iron skillet from the table", + "Grab the brown loaf with the right arm and place in the hefty black skillet", + "Take the light brown loaf with smooth sides off the table into the gray cooking pan with handle", + "Move the smooth loaf with rounded edges to the gray cooking pan with handle using the right arm", + "Grab the hand-sized oval loaf using the right arm and place it in the pan with dark finish", + "Use the right arm to pick the bread with split top up for the dark gray skillet", + "Use the right arm to move the bread with split top and set it into the medium skillet.", + "Use the right arm to grab the bread with golden-brown crust for the gray pan", + "Grab the small loaf with curved top and place it inside the skillet for cooking", + "Use the right arm to set the hand-sized oval loaf into the round skillet with handle.", + "Grab the small loaf with curved top and stick it in the smooth cast iron skillet.", + "Pick up the bread with split top and place it in the smooth round cooking skillet.", + "Put the light brown loaf with smooth sides into the skillet for cooking.", + "Use the right arm to lift the small golden brown bread and place it into the smooth round cooking skillet.", + "Use the right arm to take the golden bread loaf and move it into the dark gray skillet.", + "Grab the light brown bread with ridges and place it inside the skillet for cooking.", + "Lift the small loaf with curved top and drop it into the skillet for cooking.", + "Use the right arm to pick the light brown loaf with smooth sides for the hefty black skillet", + "Use the right arm to grab the bread with warm golden color and set it in the smooth round cooking skillet.", + "Set the brown loaf into the rounded skillet with a holey handle after grabbing", + "Take the soft brown bread and set it into the pan with dark finish", + "Pick up the brown loaf and put it in the skillet for cooking", + "Take the hand-sized oval loaf with the right arm and drop into the gray pan", + "Use the right arm to move the bread with split top into the pan with dark finish", + "Lift the light brown loaf with smooth sides using the right arm and move it to the smooth cast iron skillet", + "Place the bread with warm golden color from the table into the pan with dark finish", + "Take the small loaf with curved top and drop it into the medium skillet.", + "Pick the small golden brown bread and set it into the dark gray skillet.", + "Lift the golden bread loaf and drop it into the medium round cast iron skillet", + "Use the right arm to place the small loaf with curved top into the medium skillet", + "Move the bread with warm golden color from table into the hefty black skillet", + "Use the right arm to stick the hand-sized oval loaf into the gray cooking pan with handle.", + "Take the bread with warm golden color and put it in the skillet for cooking.", + "Place the light brown loaf with smooth sides into the dark gray skillet with the right arm.", + "Pick the light brown bread with ridges and transfer it to the dark gray skillet", + "Pick the small golden brown bread up using the right arm and drop it in the dark gray skillet.", + "Use the right arm to grab the small loaf with curved top for the gray pan", + "Grab the light brown bread with ridges from the table and set it in the skillet for cooking.", + "Put the bread with golden-brown crust into the medium round cast iron skillet after grabbing it", + "Move the light brown bread with ridges into the gray pan from the table", + "Place the light brown loaf with smooth sides into the gray pan using the right arm", + "Pick up the brown loaf with the right arm and drop it in the gray pan", + "Use the right arm to pick the golden bread loaf and put it in the skillet for cooking", + "Take the smooth loaf with rounded edges and put it in the hefty black skillet.", + "Take the bread with warm golden color and place it inside the gray cooking pan with handle", + "Pick the golden bread loaf with the right arm and set it in the medium round cast iron skillet", + "Grab the small golden brown bread and drop it into the medium round cast iron skillet", + "Take the light brown loaf with smooth sides and place it inside the round skillet with handle", + "Use the right arm to pick the smooth loaf with rounded edges and place it into the medium skillet.", + "Pick the soft brown bread off the table and place it in the smooth cast iron skillet.", + "Transfer the light brown bread with ridges into the medium skillet from the table", + "Grab the small golden brown bread with the right arm and place in the gray cooking pan with handle", + "Take the brown loaf off the table into the smooth cast iron skillet", + "Move the small loaf with curved top to the hefty black skillet using the right arm", + "Grab the small golden brown bread using the right arm and place it in the dark gray skillet", + "Use the right arm to pick the small loaf with curved top up for the skillet for cooking", + "Use the right arm to move the bread with warm golden color and set it into the dark gray skillet.", + "Use the right arm to grab the brown loaf for the dark gray skillet", + "Grab the bread with split top and place it inside the smooth cast iron skillet", + "Use the right arm to set the hand-sized oval loaf into the medium round cast iron skillet.", + "Grab the soft brown bread and stick it in the skillet for cooking.", + "Pick up the light brown bread with ridges and place it in the rounded skillet with a holey handle.", + "Put the soft brown bread into the gray pan.", + "Use the right arm to lift the soft brown bread and place it into the round skillet with handle.", + "Use the right arm to take the hand-sized oval loaf and move it into the round skillet with handle.", + "Grab the bread with warm golden color and place it inside the gray pan.", + "Lift the bread with warm golden color and drop it into the rounded skillet with a holey handle.", + "Use the right arm to pick the bread with split top for the round skillet with handle", + "Use the right arm to grab the bread with split top and set it in the round skillet with handle.", + "Set the light brown loaf with smooth sides into the smooth round cooking skillet after grabbing", + "Take the smooth loaf with rounded edges and set it into the skillet for cooking", + "Pick up the bread with warm golden color and put it in the hefty black skillet", + "Take the brown loaf with the right arm and drop into the pan with dark finish", + "Use the right arm to move the smooth loaf with rounded edges into the hefty black skillet", + "Lift the hand-sized oval loaf using the right arm and move it to the gray cooking pan with handle", + "Place the soft brown bread from the table into the hefty black skillet", + "Take the bread with split top and drop it into the smooth cast iron skillet.", + "Pick the small golden brown bread and set it into the smooth round cooking skillet.", + "Lift the brown loaf and drop it into the gray pan", + "Use the right arm to place the bread with golden-brown crust into the hefty black skillet", + "Move the bread with warm golden color from table into the smooth cast iron skillet", + "Use the right arm to stick the brown loaf into the pan with dark finish.", + "Take the small golden brown bread and put it in the rounded skillet with a holey handle.", + "Place the bread with golden-brown crust into the smooth cast iron skillet with the right arm.", + "Pick the soft brown bread and transfer it to the pan with dark finish", + "Pick the light brown loaf with smooth sides up using the right arm and drop it in the skillet for cooking.", + "Use the right arm to grab the bread with split top for the round skillet with handle" + ], + "unseen": [ + "Use the right arm to grab the oval bread and set it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and place it in the blackish-gray cast iron skillet", + "Move the oval bread to the blackish-gray cast iron skillet using the right arm.", + "Grab the oval-shaped soft bread and drop it into the cooking skillet with grippy handle.", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Take the oval bread and put it in the cooking skillet with grippy handle", + "Use the right arm to move the rounded oval bread to the cooking skillet with grippy handle.", + "Grab the rounded oval bread and place it into the cooking skillet with grippy handle.", + "Grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Use the right arm to grab the oval bread and set it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and place it in the dark gray round cast iron pan", + "Move the oval-shaped soft bread to the dark gray round cast iron pan using the right arm.", + "Grab the oval-shaped soft bread and drop it into the dark gray round cast iron pan.", + "Pick up the rounded oval bread and drop it into the dark gray round cast iron pan", + "Take the oval-shaped soft bread and put it in the dark gray round cast iron pan", + "Use the right arm to move the rounded oval bread to the cooking skillet with grippy handle.", + "Grab the oval bread and place it into the blackish-gray cast iron skillet.", + "Grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Pick the rounded oval bread up and place it in the dark gray round cast iron pan", + "Use the right arm to grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and place it in the dark gray round cast iron pan", + "Move the rounded oval bread to the cooking skillet with grippy handle using the right arm.", + "Grab the oval-shaped soft bread and drop it into the cooking skillet with grippy handle.", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Take the rounded oval bread and put it in the cooking skillet with grippy handle", + "Use the right arm to move the oval-shaped soft bread to the cooking skillet with grippy handle.", + "Grab the rounded oval bread and place it into the dark gray round cast iron pan.", + "Grab the oval bread and set it in the blackish-gray cast iron skillet", + "Pick the oval-shaped soft bread up and place it in the dark gray round cast iron pan", + "Use the right arm to grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and place it in the blackish-gray cast iron skillet", + "Move the rounded oval bread to the cooking skillet with grippy handle using the right arm.", + "Grab the oval bread and drop it into the cooking skillet with grippy handle.", + "Pick up the rounded oval bread and drop it into the blackish-gray cast iron skillet", + "Take the rounded oval bread and put it in the cooking skillet with grippy handle", + "Use the right arm to move the oval bread to the dark gray round cast iron pan.", + "Grab the oval bread and place it into the blackish-gray cast iron skillet.", + "Grab the oval bread and set it in the blackish-gray cast iron skillet", + "Pick the rounded oval bread up and place it in the blackish-gray cast iron skillet", + "Use the right arm to grab the oval bread and set it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it in the dark gray round cast iron pan", + "Move the oval bread to the dark gray round cast iron pan using the right arm.", + "Grab the oval-shaped soft bread and drop it into the cooking skillet with grippy handle.", + "Pick up the rounded oval bread and drop it into the dark gray round cast iron pan", + "Take the oval-shaped soft bread and put it in the blackish-gray cast iron skillet", + "Use the right arm to move the oval-shaped soft bread to the cooking skillet with grippy handle.", + "Grab the oval bread and place it into the blackish-gray cast iron skillet.", + "Grab the oval bread and set it in the blackish-gray cast iron skillet", + "Pick the rounded oval bread up and place it in the dark gray round cast iron pan", + "Use the right arm to grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it in the cooking skillet with grippy handle", + "Move the oval-shaped soft bread to the dark gray round cast iron pan using the right arm.", + "Grab the oval-shaped soft bread and drop it into the cooking skillet with grippy handle.", + "Pick up the oval bread and drop it into the cooking skillet with grippy handle", + "Take the rounded oval bread and put it in the cooking skillet with grippy handle", + "Use the right arm to move the oval-shaped soft bread to the cooking skillet with grippy handle.", + "Grab the oval bread and place it into the dark gray round cast iron pan.", + "Grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Use the right arm to grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Grab the oval bread and place it in the dark gray round cast iron pan", + "Move the oval-shaped soft bread to the dark gray round cast iron pan using the right arm.", + "Grab the oval-shaped soft bread and drop it into the dark gray round cast iron pan.", + "Pick up the oval bread and drop it into the cooking skillet with grippy handle", + "Take the rounded oval bread and put it in the cooking skillet with grippy handle", + "Use the right arm to move the rounded oval bread to the cooking skillet with grippy handle.", + "Grab the oval bread and place it into the cooking skillet with grippy handle.", + "Grab the oval bread and set it in the dark gray round cast iron pan", + "Pick the rounded oval bread up and place it in the cooking skillet with grippy handle", + "Use the right arm to grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and place it in the cooking skillet with grippy handle", + "Move the oval bread to the blackish-gray cast iron skillet using the right arm.", + "Grab the rounded oval bread and drop it into the blackish-gray cast iron skillet.", + "Pick up the rounded oval bread and drop it into the cooking skillet with grippy handle", + "Take the rounded oval bread and put it in the dark gray round cast iron pan", + "Use the right arm to move the oval-shaped soft bread to the dark gray round cast iron pan.", + "Grab the oval bread and place it into the cooking skillet with grippy handle.", + "Grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Use the right arm to grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it in the blackish-gray cast iron skillet", + "Move the oval-shaped soft bread to the blackish-gray cast iron skillet using the right arm.", + "Grab the oval-shaped soft bread and drop it into the cooking skillet with grippy handle.", + "Pick up the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet", + "Take the rounded oval bread and put it in the cooking skillet with grippy handle", + "Use the right arm to move the oval-shaped soft bread to the blackish-gray cast iron skillet.", + "Grab the rounded oval bread and place it into the blackish-gray cast iron skillet.", + "Grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Pick the rounded oval bread up and place it in the cooking skillet with grippy handle", + "Use the right arm to grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and place it in the dark gray round cast iron pan", + "Move the oval bread to the cooking skillet with grippy handle using the right arm.", + "Grab the oval-shaped soft bread and drop it into the cooking skillet with grippy handle.", + "Pick up the rounded oval bread and drop it into the cooking skillet with grippy handle", + "Take the oval bread and put it in the cooking skillet with grippy handle", + "Use the right arm to move the oval bread to the cooking skillet with grippy handle.", + "Grab the oval-shaped soft bread and place it into the dark gray round cast iron pan.", + "Grab the oval-shaped soft bread and set it in the dark gray round cast iron pan", + "Pick the oval bread up and place it in the blackish-gray cast iron skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode41.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..33d032fe912d21ff77756d5c8c39c6a3ebed86d0 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the smooth loaf with rounded edges up using the right arm and drop it in the hefty black skillet.", + "Transfer the small golden brown bread into the round skillet with handle from the table", + "Grab the small loaf with curved top and drop it into the round skillet with handle", + "Take the bread with split top and place it inside the gray pan", + "Use the right arm to grab the brown loaf and set it in the gray pan.", + "Pick the light brown loaf with smooth sides with the right arm and set it in the medium round cast iron skillet", + "Use the right arm to grab the bread with warm golden color for the rounded skillet with a holey handle", + "Grab the small loaf with curved top using the right arm and place it in the gray pan", + "Lift the bread with split top and drop it into the dark gray skillet.", + "Take the brown loaf and set it into the dark gray skillet", + "Use the right arm to move the small loaf with curved top into the rounded skillet with a holey handle", + "Take the light brown loaf with smooth sides and drop it into the skillet for cooking.", + "Pick up the soft brown bread and place it in the dark gray skillet.", + "Use the right arm to stick the bread with warm golden color into the medium round cast iron skillet.", + "Use the right arm to pick the brown loaf for the gray cooking pan with handle", + "Take the hand-sized oval loaf and place it inside the pan with dark finish", + "Take the bread with golden-brown crust off the table into the rounded skillet with a holey handle", + "Pick up the soft brown bread with the right arm and drop it in the smooth cast iron skillet", + "Grab the golden bread loaf and place it inside the smooth cast iron skillet.", + "Set the bread with split top into the smooth cast iron skillet after grabbing", + "Lift the brown loaf using the right arm and move it to the medium skillet", + "Pick the bread with split top and set it into the gray cooking pan with handle.", + "Use the right arm to lift the small loaf with curved top and place it into the gray cooking pan with handle.", + "Pick the brown loaf and transfer it to the dark gray skillet", + "Use the right arm to pick the smooth loaf with rounded edges and place it into the smooth cast iron skillet.", + "Use the right arm to grab the brown loaf for the gray cooking pan with handle", + "Grab the small loaf with curved top and place it inside the skillet for cooking", + "Use the right arm to move the small golden brown bread and set it into the skillet for cooking.", + "Take the small golden brown bread and put it in the rounded skillet with a holey handle.", + "Grab the bread with warm golden color from the table and set it in the hefty black skillet.", + "Use the right arm to pick the small loaf with curved top and put it in the dark gray skillet", + "Place the small loaf with curved top into the rounded skillet with a holey handle using the right arm", + "Move the soft brown bread from table into the dark gray skillet", + "Use the right arm to place the hand-sized oval loaf into the dark gray skillet", + "Move the bread with golden-brown crust into the medium skillet from the table", + "Put the brown loaf into the skillet for cooking.", + "Use the right arm to set the bread with split top into the round skillet with handle.", + "Take the light brown bread with ridges with the right arm and drop into the smooth round cooking skillet", + "Lift the bread with warm golden color and drop it into the rounded skillet with a holey handle", + "Use the right arm to pick the bread with warm golden color up for the round skillet with handle", + "Move the brown loaf to the skillet for cooking using the right arm", + "Place the bread with warm golden color from the table into the rounded skillet with a holey handle", + "Pick the small loaf with curved top off the table and place it in the dark gray skillet.", + "Put the bread with warm golden color into the rounded skillet with a holey handle after grabbing it", + "Take the hand-sized oval loaf and put it in the dark gray skillet.", + "Pick up the bread with golden-brown crust and put it in the hefty black skillet", + "Place the soft brown bread into the rounded skillet with a holey handle with the right arm.", + "Grab the small golden brown bread with the right arm and place in the round skillet with handle", + "Grab the soft brown bread and stick it in the round skillet with handle.", + "Use the right arm to take the golden bread loaf and move it into the smooth cast iron skillet.", + "Pick the bread with split top up using the right arm and drop it in the medium skillet.", + "Transfer the small golden brown bread into the dark gray skillet from the table", + "Grab the light brown bread with ridges and drop it into the skillet for cooking", + "Take the small loaf with curved top and place it inside the medium round cast iron skillet", + "Use the right arm to grab the small golden brown bread and set it in the pan with dark finish.", + "Pick the bread with split top with the right arm and set it in the pan with dark finish", + "Use the right arm to grab the hand-sized oval loaf for the skillet for cooking", + "Grab the light brown loaf with smooth sides using the right arm and place it in the gray pan", + "Lift the small loaf with curved top and drop it into the smooth round cooking skillet.", + "Take the smooth loaf with rounded edges and set it into the pan with dark finish", + "Use the right arm to move the bread with split top into the medium skillet", + "Take the bread with split top and drop it into the gray pan.", + "Pick up the bread with warm golden color and place it in the dark gray skillet.", + "Use the right arm to stick the small golden brown bread into the pan with dark finish.", + "Use the right arm to pick the small loaf with curved top for the hefty black skillet", + "Take the bread with golden-brown crust and place it inside the medium round cast iron skillet", + "Take the small loaf with curved top off the table into the dark gray skillet", + "Pick up the brown loaf with the right arm and drop it in the gray pan", + "Grab the golden bread loaf and place it inside the dark gray skillet.", + "Set the brown loaf into the gray cooking pan with handle after grabbing", + "Lift the bread with split top using the right arm and move it to the hefty black skillet", + "Pick the soft brown bread and set it into the smooth cast iron skillet.", + "Use the right arm to lift the smooth loaf with rounded edges and place it into the hefty black skillet.", + "Pick the golden bread loaf and transfer it to the pan with dark finish", + "Use the right arm to pick the soft brown bread and place it into the medium skillet.", + "Use the right arm to grab the small loaf with curved top for the smooth cast iron skillet", + "Grab the light brown loaf with smooth sides and place it inside the gray pan", + "Use the right arm to move the small loaf with curved top and set it into the gray cooking pan with handle.", + "Take the light brown bread with ridges and put it in the round skillet with handle.", + "Grab the light brown bread with ridges from the table and set it in the smooth cast iron skillet.", + "Use the right arm to pick the bread with split top and put it in the hefty black skillet", + "Place the hand-sized oval loaf into the pan with dark finish using the right arm", + "Move the bread with split top from table into the gray cooking pan with handle", + "Use the right arm to place the small loaf with curved top into the gray cooking pan with handle", + "Move the light brown bread with ridges into the gray pan from the table", + "Put the soft brown bread into the hefty black skillet.", + "Use the right arm to set the light brown loaf with smooth sides into the medium round cast iron skillet.", + "Take the bread with golden-brown crust with the right arm and drop into the pan with dark finish", + "Lift the small golden brown bread and drop it into the smooth cast iron skillet", + "Use the right arm to pick the soft brown bread up for the pan with dark finish", + "Move the bread with golden-brown crust to the gray pan using the right arm", + "Place the small golden brown bread from the table into the hefty black skillet", + "Pick the soft brown bread off the table and place it in the pan with dark finish.", + "Put the small golden brown bread into the medium skillet after grabbing it", + "Take the bread with split top and put it in the smooth round cooking skillet.", + "Pick up the light brown loaf with smooth sides and put it in the skillet for cooking", + "Place the light brown bread with ridges into the pan with dark finish with the right arm.", + "Grab the light brown loaf with smooth sides with the right arm and place in the smooth cast iron skillet", + "Grab the brown loaf and stick it in the smooth round cooking skillet.", + "Use the right arm to take the light brown bread with ridges and move it into the medium skillet." + ], + "unseen": [ + "Use the right arm to move the rounded oval bread to the blackish-gray cast iron skillet.", + "Move the oval-shaped soft bread to the dark gray round cast iron pan using the right arm.", + "Take the rounded oval bread and put it in the cooking skillet with grippy handle", + "Pick the rounded oval bread up and place it in the dark gray round cast iron pan", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Use the right arm to grab the oval bread and set it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and place it into the dark gray round cast iron pan.", + "Grab the rounded oval bread and place it in the dark gray round cast iron pan", + "Grab the oval bread and set it in the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and drop it into the cooking skillet with grippy handle.", + "Use the right arm to move the oval bread to the dark gray round cast iron pan.", + "Move the oval bread to the dark gray round cast iron pan using the right arm.", + "Take the rounded oval bread and put it in the blackish-gray cast iron skillet", + "Pick the oval-shaped soft bread up and place it in the dark gray round cast iron pan", + "Pick up the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and place it into the dark gray round cast iron pan.", + "Grab the rounded oval bread and place it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and drop it into the cooking skillet with grippy handle.", + "Use the right arm to move the rounded oval bread to the blackish-gray cast iron skillet.", + "Move the oval bread to the dark gray round cast iron pan using the right arm.", + "Take the oval bread and put it in the dark gray round cast iron pan", + "Pick the oval-shaped soft bread up and place it in the dark gray round cast iron pan", + "Pick up the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet", + "Use the right arm to grab the oval bread and set it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it into the cooking skillet with grippy handle.", + "Grab the rounded oval bread and place it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Grab the rounded oval bread and drop it into the cooking skillet with grippy handle.", + "Use the right arm to move the oval bread to the cooking skillet with grippy handle.", + "Move the rounded oval bread to the blackish-gray cast iron skillet using the right arm.", + "Take the oval bread and put it in the blackish-gray cast iron skillet", + "Pick the rounded oval bread up and place it in the cooking skillet with grippy handle", + "Pick up the oval-shaped soft bread and drop it into the dark gray round cast iron pan", + "Use the right arm to grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and place it into the dark gray round cast iron pan.", + "Grab the oval-shaped soft bread and place it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and drop it into the cooking skillet with grippy handle.", + "Use the right arm to move the rounded oval bread to the cooking skillet with grippy handle.", + "Move the rounded oval bread to the blackish-gray cast iron skillet using the right arm.", + "Take the rounded oval bread and put it in the blackish-gray cast iron skillet", + "Pick the oval bread up and place it in the blackish-gray cast iron skillet", + "Pick up the rounded oval bread and drop it into the blackish-gray cast iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it into the dark gray round cast iron pan.", + "Grab the oval-shaped soft bread and place it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Grab the oval bread and drop it into the cooking skillet with grippy handle.", + "Use the right arm to move the oval bread to the dark gray round cast iron pan.", + "Move the rounded oval bread to the dark gray round cast iron pan using the right arm.", + "Take the oval bread and put it in the blackish-gray cast iron skillet", + "Pick the rounded oval bread up and place it in the blackish-gray cast iron skillet", + "Pick up the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Grab the rounded oval bread and place it into the dark gray round cast iron pan.", + "Grab the oval bread and place it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and set it in the dark gray round cast iron pan", + "Grab the rounded oval bread and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to move the rounded oval bread to the dark gray round cast iron pan.", + "Move the oval bread to the dark gray round cast iron pan using the right arm.", + "Take the oval-shaped soft bread and put it in the dark gray round cast iron pan", + "Pick the oval-shaped soft bread up and place it in the cooking skillet with grippy handle", + "Pick up the oval bread and drop it into the dark gray round cast iron pan", + "Use the right arm to grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and place it into the dark gray round cast iron pan.", + "Grab the oval bread and place it in the dark gray round cast iron pan", + "Grab the oval bread and set it in the cooking skillet with grippy handle", + "Grab the oval bread and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to move the oval-shaped soft bread to the cooking skillet with grippy handle.", + "Move the oval-shaped soft bread to the dark gray round cast iron pan using the right arm.", + "Take the rounded oval bread and put it in the cooking skillet with grippy handle", + "Pick the oval bread up and place it in the dark gray round cast iron pan", + "Pick up the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and place it into the blackish-gray cast iron skillet.", + "Grab the rounded oval bread and place it in the dark gray round cast iron pan", + "Grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Grab the oval bread and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to move the oval-shaped soft bread to the cooking skillet with grippy handle.", + "Move the rounded oval bread to the dark gray round cast iron pan using the right arm.", + "Take the oval bread and put it in the cooking skillet with grippy handle", + "Pick the rounded oval bread up and place it in the cooking skillet with grippy handle", + "Pick up the rounded oval bread and drop it into the cooking skillet with grippy handle", + "Use the right arm to grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and place it into the dark gray round cast iron pan.", + "Grab the oval bread and place it in the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Grab the oval bread and drop it into the dark gray round cast iron pan.", + "Use the right arm to move the oval bread to the blackish-gray cast iron skillet.", + "Move the oval bread to the cooking skillet with grippy handle using the right arm.", + "Take the rounded oval bread and put it in the cooking skillet with grippy handle", + "Pick the oval-shaped soft bread up and place it in the dark gray round cast iron pan", + "Pick up the oval bread and drop it into the dark gray round cast iron pan", + "Use the right arm to grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it into the dark gray round cast iron pan.", + "Grab the rounded oval bread and place it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Grab the rounded oval bread and drop it into the dark gray round cast iron pan." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode42.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..ba8a11a142db0da717dc824dc97c2d9c080a660f --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the light brown loaf with smooth sides to the flat-bottomed black cast iron skillet using the left arm", + "Use the left arm to pick the light brown loaf with smooth sides and place it into the flat-bottomed black cast iron skillet.", + "Use the left arm to lift the bread with warm golden color and place it into the black cooking tool skillet.", + "Take the golden bread loaf and drop it into the heavy cast iron skillet.", + "Place the light brown bread with ridges into the black cooking tool skillet with the left arm.", + "Take the bread with split top and place it inside the black skillet with long handle", + "Grab the light brown bread with ridges from the table and set it in the pan-shaped black skillet.", + "Pick up the smooth loaf with rounded edges and place it in the black iron skillet for cooking.", + "Take the small golden brown bread off the table into the flat-bottomed black cast iron skillet", + "Use the left arm to pick the small golden brown bread and put it in the medium skillet with rough outside", + "Use the left arm to pick the hand-sized oval loaf up for the black skillet for frying foods", + "Use the left arm to grab the smooth loaf with rounded edges for the skillet with sturdy material", + "Set the smooth loaf with rounded edges into the flat-bottomed black cast iron skillet after grabbing", + "Put the small loaf with curved top into the flat-bottomed black cast iron skillet.", + "Lift the hand-sized oval loaf using the left arm and move it to the heavy cast iron skillet", + "Grab the brown loaf and stick it in the black cooking tool skillet.", + "Use the left arm to place the smooth loaf with rounded edges into the medium skillet with rough outside", + "Transfer the bread with warm golden color into the skillet with sturdy material from the table", + "Lift the golden bread loaf and drop it into the heavy cast iron skillet", + "Take the bread with warm golden color with the left arm and drop into the medium skillet with rough outside", + "Use the left arm to grab the small golden brown bread for the black skillet for frying foods", + "Pick the bread with warm golden color off the table and place it in the black skillet for frying foods.", + "Take the small loaf with curved top and place it inside the medium skillet with rough outside", + "Grab the bread with split top using the left arm and place it in the heavy cast iron skillet", + "Move the small golden brown bread into the black skillet for frying foods from the table", + "Pick the brown loaf and set it into the skillet with wide round base.", + "Put the bread with warm golden color into the black skillet for frying foods after grabbing it", + "Use the left arm to move the bread with golden-brown crust into the flat-bottomed black cast iron skillet", + "Grab the hand-sized oval loaf and place it inside the black skillet for frying foods", + "Place the brown loaf into the skillet with looped handle using the left arm", + "Grab the brown loaf and drop it into the flat-bottomed black cast iron skillet", + "Use the left arm to pick the soft brown bread for the black skillet with long handle", + "Pick the bread with warm golden color with the left arm and set it in the black skillet for frying foods", + "Use the left arm to set the soft brown bread into the black cooking tool skillet.", + "Take the bread with warm golden color and put it in the skillet with looped handle.", + "Pick up the light brown bread with ridges and put it in the black skillet with long handle", + "Pick the light brown loaf with smooth sides and transfer it to the skillet with sturdy material", + "Move the small golden brown bread from table into the black skillet for frying foods", + "Take the small loaf with curved top and set it into the black iron skillet for cooking", + "Use the left arm to grab the brown loaf and set it in the black cooking tool skillet.", + "Grab the smooth loaf with rounded edges with the left arm and place in the black skillet with long handle", + "Take the hand-sized oval loaf and put it in the medium skillet with rough outside.", + "Lift the brown loaf and drop it into the heavy cast iron skillet.", + "Pick the small golden brown bread up using the left arm and drop it in the medium skillet with rough outside.", + "Use the left arm to move the light brown loaf with smooth sides and set it into the black cooking tool skillet.", + "Grab the brown loaf and place it inside the pan-shaped black skillet.", + "Pick up the bread with golden-brown crust with the left arm and drop it in the black skillet", + "Use the left arm to take the smooth loaf with rounded edges and move it into the heavy cast iron skillet.", + "Use the left arm to stick the bread with split top into the skillet with sturdy material.", + "Place the soft brown bread from the table into the skillet with wide round base", + "Move the soft brown bread to the skillet with looped handle using the left arm", + "Use the left arm to pick the bread with golden-brown crust and place it into the heavy cast iron skillet.", + "Use the left arm to lift the light brown loaf with smooth sides and place it into the black skillet.", + "Take the small golden brown bread and drop it into the black iron skillet for cooking.", + "Place the bread with split top into the black iron skillet for cooking with the left arm.", + "Take the light brown bread with ridges and place it inside the black skillet for frying foods", + "Grab the light brown loaf with smooth sides from the table and set it in the flat-bottomed black cast iron skillet.", + "Pick up the small golden brown bread and place it in the black cooking tool skillet.", + "Take the light brown bread with ridges off the table into the heavy cast iron skillet", + "Use the left arm to pick the hand-sized oval loaf and put it in the black skillet for frying foods", + "Use the left arm to pick the bread with split top up for the flat-bottomed black cast iron skillet", + "Use the left arm to grab the bread with golden-brown crust for the medium skillet with rough outside", + "Set the soft brown bread into the skillet with sturdy material after grabbing", + "Put the smooth loaf with rounded edges into the black cooking tool skillet.", + "Lift the bread with golden-brown crust using the left arm and move it to the skillet with sturdy material", + "Grab the bread with split top and stick it in the skillet with looped handle.", + "Use the left arm to place the light brown loaf with smooth sides into the skillet with wide round base", + "Transfer the small loaf with curved top into the black skillet for frying foods from the table", + "Lift the golden bread loaf and drop it into the skillet with sturdy material", + "Take the golden bread loaf with the left arm and drop into the black cooking tool skillet", + "Use the left arm to grab the smooth loaf with rounded edges for the skillet with wide round base", + "Pick the bread with golden-brown crust off the table and place it in the skillet with sturdy material.", + "Take the bread with warm golden color and place it inside the black skillet with long handle", + "Grab the bread with golden-brown crust using the left arm and place it in the black skillet", + "Move the golden bread loaf into the pan-shaped black skillet from the table", + "Pick the bread with split top and set it into the pan-shaped black skillet.", + "Put the bread with golden-brown crust into the skillet with sturdy material after grabbing it", + "Use the left arm to move the golden bread loaf into the black cooking tool skillet", + "Grab the light brown loaf with smooth sides and place it inside the skillet with looped handle", + "Place the bread with golden-brown crust into the skillet with sturdy material using the left arm", + "Grab the smooth loaf with rounded edges and drop it into the skillet with looped handle", + "Use the left arm to pick the brown loaf for the black skillet with long handle", + "Pick the small loaf with curved top with the left arm and set it in the black skillet with long handle", + "Use the left arm to set the bread with split top into the skillet with looped handle.", + "Take the light brown loaf with smooth sides and put it in the pan-shaped black skillet.", + "Pick up the soft brown bread and put it in the skillet with sturdy material", + "Pick the light brown loaf with smooth sides and transfer it to the black iron skillet for cooking", + "Move the brown loaf from table into the black skillet", + "Take the small golden brown bread and set it into the medium skillet with rough outside", + "Use the left arm to grab the light brown bread with ridges and set it in the medium skillet with rough outside.", + "Grab the small loaf with curved top with the left arm and place in the skillet with wide round base", + "Take the soft brown bread and put it in the skillet with wide round base.", + "Lift the bread with golden-brown crust and drop it into the pan-shaped black skillet.", + "Pick the soft brown bread up using the left arm and drop it in the black skillet for frying foods.", + "Use the left arm to move the golden bread loaf and set it into the flat-bottomed black cast iron skillet.", + "Grab the smooth loaf with rounded edges and place it inside the skillet with looped handle.", + "Pick up the bread with split top with the left arm and drop it in the black skillet with long handle", + "Use the left arm to take the brown loaf and move it into the medium skillet with rough outside.", + "Use the left arm to stick the golden bread loaf into the black skillet for frying foods.", + "Place the smooth loaf with rounded edges from the table into the heavy cast iron skillet" + ], + "unseen": [ + "Grab the oval bread and place it in the medium black frying skillet", + "Use the left arm to move the oval-shaped soft bread to the smooth interior skillet.", + "Grab the rounded oval bread and place it into the smooth interior skillet.", + "Pick the oval-shaped soft bread up and place it in the round black skillet", + "Grab the oval-shaped soft bread and drop it into the round black skillet.", + "Take the rounded oval bread and put it in the smooth interior skillet", + "Move the rounded oval bread to the round black skillet using the left arm.", + "Pick up the oval bread and drop it into the medium black frying skillet", + "Use the left arm to grab the rounded oval bread and set it in the round black skillet", + "Grab the oval bread and set it in the medium black frying skillet", + "Grab the oval-shaped soft bread and place it in the medium black frying skillet", + "Use the left arm to move the oval bread to the medium black frying skillet.", + "Grab the oval-shaped soft bread and place it into the smooth interior skillet.", + "Pick the oval-shaped soft bread up and place it in the round black skillet", + "Grab the oval-shaped soft bread and drop it into the medium black frying skillet.", + "Take the oval bread and put it in the round black skillet", + "Move the rounded oval bread to the round black skillet using the left arm.", + "Pick up the rounded oval bread and drop it into the medium black frying skillet", + "Use the left arm to grab the oval bread and set it in the smooth interior skillet", + "Grab the oval-shaped soft bread and set it in the smooth interior skillet", + "Grab the rounded oval bread and place it in the medium black frying skillet", + "Use the left arm to move the oval-shaped soft bread to the round black skillet.", + "Grab the oval bread and place it into the medium black frying skillet.", + "Pick the oval bread up and place it in the medium black frying skillet", + "Grab the oval bread and drop it into the round black skillet.", + "Take the oval-shaped soft bread and put it in the round black skillet", + "Move the oval-shaped soft bread to the round black skillet using the left arm.", + "Pick up the oval-shaped soft bread and drop it into the medium black frying skillet", + "Use the left arm to grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Grab the oval-shaped soft bread and set it in the smooth interior skillet", + "Grab the oval-shaped soft bread and place it in the smooth interior skillet", + "Use the left arm to move the oval bread to the round black skillet.", + "Grab the rounded oval bread and place it into the round black skillet.", + "Pick the oval bread up and place it in the smooth interior skillet", + "Grab the oval-shaped soft bread and drop it into the smooth interior skillet.", + "Take the oval-shaped soft bread and put it in the smooth interior skillet", + "Move the oval-shaped soft bread to the round black skillet using the left arm.", + "Pick up the rounded oval bread and drop it into the medium black frying skillet", + "Use the left arm to grab the oval-shaped soft bread and set it in the round black skillet", + "Grab the oval bread and set it in the smooth interior skillet", + "Grab the oval bread and place it in the round black skillet", + "Use the left arm to move the oval-shaped soft bread to the smooth interior skillet.", + "Grab the oval bread and place it into the medium black frying skillet.", + "Pick the oval-shaped soft bread up and place it in the round black skillet", + "Grab the rounded oval bread and drop it into the smooth interior skillet.", + "Take the oval bread and put it in the round black skillet", + "Move the oval bread to the smooth interior skillet using the left arm.", + "Pick up the rounded oval bread and drop it into the smooth interior skillet", + "Use the left arm to grab the oval bread and set it in the smooth interior skillet", + "Grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Grab the rounded oval bread and place it in the medium black frying skillet", + "Use the left arm to move the oval bread to the smooth interior skillet.", + "Grab the rounded oval bread and place it into the medium black frying skillet.", + "Pick the rounded oval bread up and place it in the smooth interior skillet", + "Grab the rounded oval bread and drop it into the smooth interior skillet.", + "Take the rounded oval bread and put it in the medium black frying skillet", + "Move the oval bread to the round black skillet using the left arm.", + "Pick up the oval bread and drop it into the smooth interior skillet", + "Use the left arm to grab the oval-shaped soft bread and set it in the round black skillet", + "Grab the rounded oval bread and set it in the medium black frying skillet", + "Grab the oval-shaped soft bread and place it in the round black skillet", + "Use the left arm to move the oval-shaped soft bread to the round black skillet.", + "Grab the rounded oval bread and place it into the smooth interior skillet.", + "Pick the oval bread up and place it in the round black skillet", + "Grab the rounded oval bread and drop it into the smooth interior skillet.", + "Take the oval-shaped soft bread and put it in the round black skillet", + "Move the rounded oval bread to the medium black frying skillet using the left arm.", + "Pick up the oval-shaped soft bread and drop it into the round black skillet", + "Use the left arm to grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Grab the oval bread and set it in the smooth interior skillet", + "Grab the rounded oval bread and place it in the medium black frying skillet", + "Use the left arm to move the oval bread to the smooth interior skillet.", + "Grab the oval bread and place it into the round black skillet.", + "Pick the rounded oval bread up and place it in the round black skillet", + "Grab the oval-shaped soft bread and drop it into the round black skillet.", + "Take the oval bread and put it in the round black skillet", + "Move the rounded oval bread to the smooth interior skillet using the left arm.", + "Pick up the oval-shaped soft bread and drop it into the smooth interior skillet", + "Use the left arm to grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Grab the oval-shaped soft bread and set it in the round black skillet", + "Grab the oval bread and place it in the medium black frying skillet", + "Use the left arm to move the rounded oval bread to the round black skillet.", + "Grab the oval bread and place it into the smooth interior skillet.", + "Pick the rounded oval bread up and place it in the medium black frying skillet", + "Grab the rounded oval bread and drop it into the smooth interior skillet.", + "Take the oval bread and put it in the round black skillet", + "Move the oval bread to the medium black frying skillet using the left arm.", + "Pick up the rounded oval bread and drop it into the round black skillet", + "Use the left arm to grab the oval bread and set it in the smooth interior skillet", + "Grab the oval-shaped soft bread and set it in the round black skillet", + "Grab the rounded oval bread and place it in the smooth interior skillet", + "Use the left arm to move the oval-shaped soft bread to the medium black frying skillet.", + "Grab the rounded oval bread and place it into the smooth interior skillet.", + "Pick the oval-shaped soft bread up and place it in the smooth interior skillet", + "Grab the oval-shaped soft bread and drop it into the medium black frying skillet.", + "Take the oval bread and put it in the smooth interior skillet", + "Move the oval-shaped soft bread to the medium black frying skillet using the left arm.", + "Pick up the oval-shaped soft bread and drop it into the smooth interior skillet", + "Use the left arm to grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Grab the rounded oval bread and set it in the round black skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode43.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..ce47d77ba8a6357bdd3a48d9ed91335d43dc458c --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the golden bread loaf from table into the flat-bottom skillet", + "Place the bread with rough texture into the smooth non-stick skillet using the left arm", + "Take the bread loaf with bumpy surface and place it inside the medium-sized frying skillet", + "Lift the bread block with light patches and drop it into the gray skillet for stovetop cooking.", + "Pick up the soft bread and put it in the black-surfaced skillet with gray sides", + "Move the doughy and soft bread into the black-surfaced skillet with gray sides from the table", + "Grab the bread block with light patches with the left arm and place in the skillet for frying food", + "Grab the hand-sized bread block and stick it in the black-surfaced skillet with gray sides.", + "Take the bread with rough texture off the table into the round skillet with handle", + "Take the bread loaf with uneven edges with the left arm and drop into the metal skillet", + "Use the left arm to pick the golden bread for the skillet for frying food", + "Lift the bread with rough texture using the left arm and move it to the medium-sized frying skillet", + "Grab the bread with rough texture using the left arm and place it in the medium-sized frying skillet", + "Set the doughy and soft bread into the round skillet with open handle end after grabbing", + "Use the left arm to pick the doughy and soft bread and place it into the skillet for frying food.", + "Use the left arm to place the hand-sized bread block into the dark gray skillet", + "Use the left arm to grab the doughy and soft bread for the skillet for frying food", + "Pick the soft bread off the table and place it in the round skillet with open handle end.", + "Take the bread with rough texture and drop it into the dark gray skillet.", + "Move the golden bread loaf to the skillet with black cooking surface using the left arm", + "Pick up the bread loaf with bumpy surface and place it in the flat-bottom skillet.", + "Grab the cuboid bread and place it inside the metal skillet", + "Take the bread loaf with bumpy surface and put it in the round skillet with handle.", + "Use the left arm to take the soft bread and move it into the medium-sized frying skillet.", + "Place the doughy and soft bread into the skillet with black cooking surface with the left arm.", + "Put the hand-sized bread block into the dark gray skillet after grabbing it", + "Take the bread loaf with bumpy surface and put it in the skillet with black cooking surface.", + "Take the square-shaped bread and place it inside the medium-sized frying skillet", + "Place the bread with rough texture from the table into the metal skillet", + "Use the left arm to grab the bread loaf with bumpy surface for the flat-bottom skillet", + "Lift the bread with rough texture and drop it into the dark gray skillet", + "Grab the golden bread and place it inside the metal skillet.", + "Pick the soft bread with the left arm and set it in the round skillet with open handle end", + "Pick up the bread with rough texture with the left arm and drop it in the metal skillet", + "Pick the bread with rough texture and transfer it to the flat-bottom skillet", + "Transfer the bread loaf with uneven edges into the flat-bottom skillet from the table", + "Take the soft bread and set it into the metal skillet with comfortable grip", + "Use the left arm to lift the bread with rough texture and place it into the flat-bottom skillet.", + "Pick the light golden brown bread and set it into the skillet for frying food.", + "Grab the bread loaf with uneven edges and drop it into the flat-bottom skillet", + "Use the left arm to pick the light golden brown bread and put it in the metal skillet", + "Use the left arm to set the doughy and soft bread into the smooth non-stick skillet.", + "Pick the light golden brown bread up using the left arm and drop it in the metal skillet.", + "Put the square-shaped bread into the round skillet with open handle end.", + "Use the left arm to move the light golden brown bread and set it into the round skillet with open handle end.", + "Grab the bread block with light patches from the table and set it in the metal skillet with comfortable grip.", + "Use the left arm to grab the bread with rough texture and set it in the black-surfaced skillet with gray sides.", + "Use the left arm to stick the hand-sized bread block into the metal skillet with comfortable grip.", + "Use the left arm to pick the bread block with light patches up for the skillet for frying food", + "Use the left arm to move the bread loaf with uneven edges into the metal skillet", + "Move the bread block with light patches from table into the metal skillet with comfortable grip", + "Place the soft bread into the round skillet with open handle end using the left arm", + "Take the soft bread and place it inside the round skillet with handle", + "Lift the bread loaf with bumpy surface and drop it into the gray skillet for stovetop cooking.", + "Pick up the square-shaped bread and put it in the metal skillet", + "Move the golden bread loaf into the black-surfaced skillet with gray sides from the table", + "Grab the light golden brown bread with the left arm and place in the flat-bottom skillet", + "Grab the light golden brown bread and stick it in the skillet with black cooking surface.", + "Take the cuboid bread off the table into the round skillet with open handle end", + "Take the hand-sized bread block with the left arm and drop into the medium-sized frying skillet", + "Use the left arm to pick the golden bread for the skillet with black cooking surface", + "Lift the square-shaped bread using the left arm and move it to the smooth non-stick skillet", + "Grab the cuboid bread using the left arm and place it in the round skillet with handle", + "Set the cuboid bread into the dark gray skillet after grabbing", + "Use the left arm to pick the doughy and soft bread and place it into the smooth non-stick skillet.", + "Use the left arm to place the golden bread into the medium-sized frying skillet", + "Use the left arm to grab the hand-sized bread block for the gray skillet for stovetop cooking", + "Pick the hand-sized bread block off the table and place it in the metal skillet with comfortable grip.", + "Take the bread loaf with bumpy surface and drop it into the metal skillet.", + "Move the cuboid bread to the round skillet with open handle end using the left arm", + "Pick up the bread block with light patches and place it in the smooth non-stick skillet.", + "Grab the golden bread loaf and place it inside the metal skillet", + "Take the bread block with light patches and put it in the dark gray skillet.", + "Use the left arm to take the golden bread and move it into the medium-sized frying skillet.", + "Place the bread with rough texture into the skillet for frying food with the left arm.", + "Put the golden bread into the round skillet with handle after grabbing it", + "Take the golden bread and put it in the skillet for frying food.", + "Take the golden bread loaf and place it inside the dark gray skillet", + "Place the light golden brown bread from the table into the round skillet with handle", + "Use the left arm to grab the doughy and soft bread for the skillet with black cooking surface", + "Lift the golden bread and drop it into the dark gray skillet", + "Grab the bread with rough texture and place it inside the gray skillet for stovetop cooking.", + "Pick the soft bread with the left arm and set it in the skillet with black cooking surface", + "Pick up the doughy and soft bread with the left arm and drop it in the gray skillet for stovetop cooking", + "Pick the bread with rough texture and transfer it to the gray skillet for stovetop cooking", + "Transfer the square-shaped bread into the gray skillet for stovetop cooking from the table", + "Take the hand-sized bread block and set it into the smooth non-stick skillet", + "Use the left arm to lift the golden bread loaf and place it into the medium-sized frying skillet.", + "Pick the bread loaf with uneven edges and set it into the gray skillet for stovetop cooking.", + "Grab the golden bread and drop it into the dark gray skillet", + "Use the left arm to pick the hand-sized bread block and put it in the round skillet with open handle end", + "Use the left arm to set the bread block with light patches into the round skillet with open handle end.", + "Pick the soft bread up using the left arm and drop it in the skillet with black cooking surface.", + "Put the square-shaped bread into the round skillet with handle.", + "Use the left arm to move the bread with rough texture and set it into the medium-sized frying skillet.", + "Grab the bread block with light patches from the table and set it in the black-surfaced skillet with gray sides.", + "Use the left arm to grab the bread loaf with uneven edges and set it in the black-surfaced skillet with gray sides.", + "Use the left arm to stick the doughy and soft bread into the round skillet with open handle end.", + "Use the left arm to pick the bread block with light patches up for the round skillet with handle", + "Use the left arm to move the hand-sized bread block into the dark gray skillet" + ], + "unseen": [ + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the left arm.", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Use the left arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Use the left arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Use the left arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the left arm.", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Use the left arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Move the bread with golden crust to the dark skillet with shiny finish using the left arm.", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Use the left arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode44.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..356a6a5a67cf41f22427fb2966fba6571ba72eb6 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the brown bread loaf and place it inside the metal skillet", + "Use the left arm to pick the square loaf of bread for the flat-bottom skillet", + "Lift the square loaf of bread and drop it into the skillet with black cooking surface.", + "Set the golden bread into the flat-bottom skillet after grabbing", + "Grab the golden crusted bread slice with the left arm and place in the round skillet with open handle end", + "Use the left arm to move the bread with rounded corners into the metal skillet with comfortable grip", + "Take the golden brown loaf-shaped bread and drop it into the metal skillet with comfortable grip.", + "Grab the bread with rounded corners and place it inside the skillet with black cooking surface", + "Use the left arm to pick the bread loaf with square shape and place it into the gray skillet for stovetop cooking.", + "Pick up the bread with firm crust edges with the left arm and drop it in the gray skillet for stovetop cooking", + "Use the left arm to set the bread with golden surface color into the metal skillet with comfortable grip.", + "Pick the bread with rounded corners with the left arm and set it in the medium-sized frying skillet", + "Use the left arm to place the bread with golden surface color into the round skillet with open handle end", + "Pick the bread with golden surface color off the table and place it in the skillet for frying food.", + "Pick the slice-shaped bread and set it into the metal skillet with comfortable grip.", + "Use the left arm to move the bread loaf with square shape and set it into the medium-sized frying skillet.", + "Pick the square loaf of bread and transfer it to the skillet with black cooking surface", + "Take the bread loaf with square shape and place it inside the round skillet with handle", + "Place the golden crusted bread slice into the skillet for frying food using the left arm", + "Place the soft golden baked bread from the table into the dark gray skillet", + "Use the left arm to grab the square loaf of bread and set it in the metal skillet with comfortable grip.", + "Move the bread with golden surface color to the medium-sized frying skillet using the left arm", + "Put the bread with golden surface color into the skillet with black cooking surface after grabbing it", + "Move the rectangular bread soft inside into the metal skillet with comfortable grip from the table", + "Use the left arm to lift the brown bread loaf and place it into the skillet for frying food.", + "Take the rectangular bread soft inside and put it in the medium-sized frying skillet.", + "Take the golden crusted bread slice and set it into the medium-sized frying skillet", + "Lift the rectangular bread soft inside and drop it into the skillet with black cooking surface", + "Grab the golden bread from the table and set it in the round skillet with open handle end.", + "Put the golden crusted bread slice into the smooth non-stick skillet.", + "Use the left arm to stick the golden crusted bread slice into the flat-bottom skillet.", + "Use the left arm to grab the slice-shaped bread for the round skillet with handle", + "Take the golden bread off the table into the flat-bottom skillet", + "Transfer the golden bread into the round skillet with open handle end from the table", + "Use the left arm to take the bread with rounded corners and move it into the skillet for frying food.", + "Move the golden bread from table into the flat-bottom skillet", + "Pick up the golden brown loaf-shaped bread and place it in the skillet for frying food.", + "Grab the bread with golden surface color and stick it in the smooth non-stick skillet.", + "Take the bread with firm crust edges and put it in the black-surfaced skillet with gray sides.", + "Place the golden bread into the round skillet with handle with the left arm.", + "Grab the golden brown loaf-shaped bread and drop it into the skillet for frying food", + "Use the left arm to pick the square loaf of bread up for the medium-sized frying skillet", + "Take the square loaf of bread with the left arm and drop into the round skillet with handle", + "Use the left arm to grab the golden crusted bread slice for the black-surfaced skillet with gray sides", + "Pick up the slice-shaped bread and put it in the gray skillet for stovetop cooking", + "Use the left arm to pick the brown bread loaf and put it in the gray skillet for stovetop cooking", + "Grab the brown bread loaf using the left arm and place it in the flat-bottom skillet", + "Grab the bread with golden surface color and place it inside the smooth non-stick skillet.", + "Lift the bread with firm crust edges using the left arm and move it to the round skillet with handle", + "Pick the soft golden baked bread up using the left arm and drop it in the round skillet with handle.", + "Take the brown bread loaf and place it inside the metal skillet with comfortable grip", + "Use the left arm to pick the bread with firm crust edges for the gray skillet for stovetop cooking", + "Lift the bread with golden surface color and drop it into the round skillet with handle.", + "Set the golden brown loaf-shaped bread into the metal skillet after grabbing", + "Grab the square loaf of bread with the left arm and place in the round skillet with handle", + "Use the left arm to move the square loaf of bread into the metal skillet", + "Take the golden crusted bread slice and drop it into the metal skillet with comfortable grip.", + "Grab the golden brown loaf-shaped bread and place it inside the round skillet with open handle end", + "Use the left arm to pick the bread with firm crust edges and place it into the black-surfaced skillet with gray sides.", + "Pick up the soft golden baked bread with the left arm and drop it in the round skillet with open handle end", + "Use the left arm to set the slice-shaped bread into the black-surfaced skillet with gray sides.", + "Pick the rectangular bread soft inside with the left arm and set it in the skillet for frying food", + "Use the left arm to place the bread loaf with square shape into the smooth non-stick skillet", + "Pick the bread with rounded corners off the table and place it in the skillet with black cooking surface.", + "Pick the brown bread loaf and set it into the round skillet with handle.", + "Use the left arm to move the golden bread and set it into the metal skillet.", + "Pick the golden crusted bread slice and transfer it to the black-surfaced skillet with gray sides", + "Take the golden bread and place it inside the skillet with black cooking surface", + "Place the slice-shaped bread into the round skillet with handle using the left arm", + "Place the brown bread loaf from the table into the metal skillet", + "Use the left arm to grab the brown bread loaf and set it in the skillet for frying food.", + "Move the soft golden baked bread to the flat-bottom skillet using the left arm", + "Put the golden brown loaf-shaped bread into the skillet with black cooking surface after grabbing it", + "Move the bread with rounded corners into the gray skillet for stovetop cooking from the table", + "Use the left arm to lift the golden crusted bread slice and place it into the smooth non-stick skillet.", + "Take the bread with firm crust edges and put it in the medium-sized frying skillet.", + "Take the rectangular bread soft inside and set it into the black-surfaced skillet with gray sides", + "Lift the slice-shaped bread and drop it into the smooth non-stick skillet", + "Grab the bread with rounded corners from the table and set it in the black-surfaced skillet with gray sides.", + "Put the golden bread into the metal skillet.", + "Use the left arm to stick the golden brown loaf-shaped bread into the round skillet with handle.", + "Use the left arm to grab the square loaf of bread for the flat-bottom skillet", + "Take the bread loaf with square shape off the table into the medium-sized frying skillet", + "Transfer the golden bread into the black-surfaced skillet with gray sides from the table", + "Use the left arm to take the rectangular bread soft inside and move it into the metal skillet.", + "Move the square loaf of bread from table into the round skillet with open handle end", + "Pick up the soft golden baked bread and place it in the gray skillet for stovetop cooking.", + "Grab the square loaf of bread and stick it in the gray skillet for stovetop cooking.", + "Take the brown bread loaf and put it in the skillet with black cooking surface.", + "Place the bread loaf with square shape into the metal skillet with the left arm.", + "Grab the soft golden baked bread and drop it into the round skillet with open handle end", + "Use the left arm to pick the square loaf of bread up for the metal skillet with comfortable grip", + "Take the golden bread with the left arm and drop into the flat-bottom skillet", + "Use the left arm to grab the golden bread for the skillet for frying food", + "Pick up the golden brown loaf-shaped bread and put it in the skillet with black cooking surface", + "Use the left arm to pick the slice-shaped bread and put it in the medium-sized frying skillet", + "Grab the soft golden baked bread using the left arm and place it in the metal skillet", + "Grab the bread with golden surface color and place it inside the medium-sized frying skillet.", + "Lift the soft golden baked bread using the left arm and move it to the smooth non-stick skillet", + "Pick the bread with rounded corners up using the left arm and drop it in the flat-bottom skillet." + ], + "unseen": [ + "Use the left arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing.", + "Take the soft rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the soft rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Move the soft rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Pick up the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle", + "Pick the bread loaf medium-sized up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the soft rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Take the soft rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and place it into the dark skillet with shiny finish.", + "Grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Move the bread loaf medium-sized to the dark skillet with shiny finish using the left arm.", + "Pick up the soft rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Pick the bread loaf medium-sized up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Take the small loaf-shaped bread and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and drop it into the dark skillet with shiny finish.", + "Grab the small loaf-shaped bread and place it into the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Move the small loaf-shaped bread to the pan-shaped skillet with hole in handle using the left arm.", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Pick the small loaf-shaped bread up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing.", + "Take the soft rectangular bread loaf and put it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Pick up the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing", + "Pick the bread loaf medium-sized up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread loaf medium-sized to the pan-shaped skillet with hole in handle.", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle.", + "Grab the small loaf-shaped bread and place it into the versatile skillet for frying and sauteing.", + "Grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Move the soft rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the soft rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Pick the small loaf-shaped bread up and place it in the dark skillet with shiny finish", + "Use the left arm to move the soft rectangular bread loaf to the dark skillet with shiny finish.", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and place it in the dark skillet with shiny finish", + "Use the left arm to grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Move the soft rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Pick up the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing", + "Pick the soft rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the small loaf-shaped bread to the dark skillet with shiny finish.", + "Take the bread loaf medium-sized and put it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Move the bread loaf medium-sized to the dark skillet with shiny finish using the left arm.", + "Pick up the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing", + "Pick the soft rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the small loaf-shaped bread to the pan-shaped skillet with hole in handle.", + "Take the bread loaf medium-sized and put it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle.", + "Grab the small loaf-shaped bread and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Move the bread loaf medium-sized to the dark skillet with shiny finish using the left arm.", + "Pick up the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle", + "Pick the soft rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread loaf medium-sized to the dark skillet with shiny finish.", + "Take the bread loaf medium-sized and put it in the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the small loaf-shaped bread and place it into the dark skillet with shiny finish.", + "Grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Move the soft rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Pick up the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Pick the bread loaf medium-sized up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing.", + "Take the bread loaf medium-sized and put it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Pick the bread loaf medium-sized up and place it in the versatile skillet for frying and sauteing" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode45.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..e10ad4c111d18ea5c78e6abb9328fb7ce4206bd8 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the soft golden bread and stick it in the round skillet with handle.", + "Take the golden brown bread with braided design and place it inside the gray skillet for stovetop cooking", + "Use the right arm to grab the small bread for the flat-bottom skillet", + "Set the bread with golden crust into the dark gray skillet after grabbing", + "Grab the round bread with braided top and place it inside the medium-sized frying skillet.", + "Lift the small golden baked bread using the right arm and move it to the flat-bottom skillet", + "Take the small golden baked bread off the table into the round skillet with handle", + "Use the right arm to grab the golden bread loaf with soft inside and set it in the round skillet with handle.", + "Take the braided bread loaf with the right arm and drop into the round skillet with handle", + "Lift the smooth crusty small bread and drop it into the dark gray skillet", + "Use the right arm to lift the golden brown bread with braided design and place it into the metal skillet.", + "Use the right arm to set the golden bread loaf with soft inside into the flat-bottom skillet.", + "Use the right arm to move the bread with golden crust into the skillet for frying food", + "Move the round bread with crusty texture to the metal skillet with comfortable grip using the right arm", + "Put the bread with golden crust into the smooth non-stick skillet after grabbing it", + "Use the right arm to move the soft golden bread and set it into the round skillet with open handle end.", + "Place the soft golden bread into the dark gray skillet with the right arm.", + "Place the golden brown bread from the table into the gray skillet for stovetop cooking", + "Move the golden brown bread with braided design from table into the dark gray skillet", + "Pick the golden brown bread up using the right arm and drop it in the skillet with black cooking surface.", + "Use the right arm to pick the golden bread loaf with soft inside for the metal skillet with comfortable grip", + "Pick the golden brown bread and set it into the round skillet with open handle end.", + "Use the right arm to stick the round bread with crusty texture into the round skillet with open handle end.", + "Use the right arm to take the golden bread loaf with soft inside and move it into the flat-bottom skillet.", + "Grab the soft golden bread and drop it into the black-surfaced skillet with gray sides", + "Grab the round bread with crusty texture using the right arm and place it in the round skillet with handle", + "Take the braided bread loaf and place it inside the gray skillet for stovetop cooking", + "Take the braided bread loaf and put it in the metal skillet.", + "Pick the bread with golden crust and transfer it to the dark gray skillet", + "Move the round bread with crusty texture into the round skillet with handle from the table", + "Take the golden brown bread and drop it into the metal skillet.", + "Put the golden bread loaf with soft inside into the gray skillet for stovetop cooking.", + "Grab the small golden baked bread and place it inside the gray skillet for stovetop cooking", + "Use the right arm to pick the soft golden bread and put it in the smooth non-stick skillet", + "Grab the round bread with braided top with the right arm and place in the smooth non-stick skillet", + "Place the golden bread loaf with soft inside into the skillet for frying food using the right arm", + "Use the right arm to place the smooth crusty small bread into the metal skillet", + "Use the right arm to pick the golden bread loaf with soft inside up for the gray skillet for stovetop cooking", + "Pick the bread with golden crust off the table and place it in the black-surfaced skillet with gray sides.", + "Take the braided bread loaf and put it in the gray skillet for stovetop cooking.", + "Pick up the small golden baked bread and place it in the medium-sized frying skillet.", + "Pick the golden brown bread with the right arm and set it in the flat-bottom skillet", + "Transfer the soft doughy bread into the medium-sized frying skillet from the table", + "Use the right arm to grab the round bread with braided top for the flat-bottom skillet", + "Grab the round bread with braided top from the table and set it in the metal skillet with comfortable grip.", + "Use the right arm to pick the golden brown bread and place it into the smooth non-stick skillet.", + "Take the golden brown bread with braided design and set it into the round skillet with open handle end", + "Lift the small bread and drop it into the metal skillet.", + "Pick up the small bread with the right arm and drop it in the dark gray skillet", + "Pick up the golden brown bread and put it in the medium-sized frying skillet", + "Grab the small golden baked bread and stick it in the medium-sized frying skillet.", + "Take the round bread with crusty texture and place it inside the metal skillet with comfortable grip", + "Use the right arm to grab the bread with golden crust for the dark gray skillet", + "Set the round bread with crusty texture into the metal skillet after grabbing", + "Grab the soft doughy bread and place it inside the medium-sized frying skillet.", + "Lift the soft golden bread using the right arm and move it to the medium-sized frying skillet", + "Take the soft golden bread off the table into the dark gray skillet", + "Use the right arm to grab the bread with golden crust and set it in the round skillet with open handle end.", + "Take the smooth crusty small bread with the right arm and drop into the medium-sized frying skillet", + "Lift the braided bread loaf and drop it into the flat-bottom skillet", + "Use the right arm to lift the bread with golden crust and place it into the round skillet with open handle end.", + "Use the right arm to set the round bread with crusty texture into the gray skillet for stovetop cooking.", + "Use the right arm to move the bread with golden crust into the flat-bottom skillet", + "Move the braided bread loaf to the black-surfaced skillet with gray sides using the right arm", + "Put the small golden baked bread into the skillet for frying food after grabbing it", + "Use the right arm to move the small golden baked bread and set it into the smooth non-stick skillet.", + "Place the bread with golden crust into the skillet for frying food with the right arm.", + "Place the round bread with braided top from the table into the skillet for frying food", + "Move the round bread with braided top from table into the gray skillet for stovetop cooking", + "Pick the soft doughy bread up using the right arm and drop it in the black-surfaced skillet with gray sides.", + "Use the right arm to pick the soft golden bread for the dark gray skillet", + "Pick the round bread with crusty texture and set it into the smooth non-stick skillet.", + "Use the right arm to stick the smooth crusty small bread into the medium-sized frying skillet.", + "Use the right arm to take the soft doughy bread and move it into the gray skillet for stovetop cooking.", + "Grab the golden brown bread and drop it into the smooth non-stick skillet", + "Grab the golden brown bread with braided design using the right arm and place it in the gray skillet for stovetop cooking", + "Take the golden bread loaf with soft inside and place it inside the skillet for frying food", + "Take the golden brown bread with braided design and put it in the metal skillet with comfortable grip.", + "Pick the small bread and transfer it to the metal skillet with comfortable grip", + "Move the small golden baked bread into the round skillet with handle from the table", + "Take the soft golden bread and drop it into the gray skillet for stovetop cooking.", + "Put the golden brown bread into the skillet for frying food.", + "Grab the braided bread loaf and place it inside the flat-bottom skillet", + "Use the right arm to pick the golden brown bread with braided design and put it in the skillet for frying food", + "Grab the round bread with braided top with the right arm and place in the dark gray skillet", + "Place the soft doughy bread into the black-surfaced skillet with gray sides using the right arm", + "Use the right arm to place the round bread with braided top into the dark gray skillet", + "Use the right arm to pick the bread with golden crust up for the metal skillet", + "Pick the soft golden bread off the table and place it in the black-surfaced skillet with gray sides.", + "Take the small golden baked bread and put it in the metal skillet.", + "Pick up the soft golden bread and place it in the gray skillet for stovetop cooking.", + "Pick the round bread with braided top with the right arm and set it in the black-surfaced skillet with gray sides", + "Transfer the small golden baked bread into the smooth non-stick skillet from the table", + "Use the right arm to grab the small golden baked bread for the dark gray skillet", + "Grab the soft golden bread from the table and set it in the round skillet with open handle end.", + "Use the right arm to pick the bread with golden crust and place it into the round skillet with handle.", + "Take the golden brown bread with braided design and set it into the smooth non-stick skillet", + "Lift the golden brown bread with braided design and drop it into the flat-bottom skillet.", + "Pick up the soft doughy bread with the right arm and drop it in the metal skillet", + "Pick up the golden brown bread and put it in the skillet with black cooking surface" + ], + "unseen": [ + "Grab the palm-sized braided golden bread and place it in the versatile skillet for frying and sauteing", + "Grab the round braided loaf and drop it into the pan-shaped skillet with hole in handle.", + "Grab the palm-sized braided golden bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the round braided loaf up and place it in the dark skillet with shiny finish", + "Move the braided top round bread to the dark skillet with shiny finish using the right arm.", + "Take the palm-sized braided golden bread and put it in the versatile skillet for frying and sauteing", + "Pick up the braided top round bread and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the palm-sized braided golden bread to the versatile skillet for frying and sauteing.", + "Grab the round braided loaf and set it in the dark skillet with shiny finish", + "Grab the braided top round bread and place it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and drop it into the pan-shaped skillet with hole in handle.", + "Grab the round braided loaf and place it into the pan-shaped skillet with hole in handle.", + "Pick the palm-sized braided golden bread up and place it in the dark skillet with shiny finish", + "Move the round braided loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Take the braided top round bread and put it in the versatile skillet for frying and sauteing", + "Pick up the braided top round bread and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the palm-sized braided golden bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the round braided loaf to the dark skillet with shiny finish.", + "Grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Grab the round braided loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the palm-sized braided golden bread and place it into the dark skillet with shiny finish.", + "Pick the braided top round bread up and place it in the versatile skillet for frying and sauteing", + "Move the palm-sized braided golden bread to the pan-shaped skillet with hole in handle using the right arm.", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Pick up the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the braided top round bread to the versatile skillet for frying and sauteing.", + "Grab the palm-sized braided golden bread and set it in the versatile skillet for frying and sauteing", + "Grab the round braided loaf and place it in the dark skillet with shiny finish", + "Grab the braided top round bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the palm-sized braided golden bread and place it into the dark skillet with shiny finish.", + "Pick the round braided loaf up and place it in the dark skillet with shiny finish", + "Move the palm-sized braided golden bread to the pan-shaped skillet with hole in handle using the right arm.", + "Take the palm-sized braided golden bread and put it in the versatile skillet for frying and sauteing", + "Pick up the palm-sized braided golden bread and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the braided top round bread to the pan-shaped skillet with hole in handle.", + "Grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and place it in the versatile skillet for frying and sauteing", + "Grab the round braided loaf and drop it into the dark skillet with shiny finish.", + "Grab the braided top round bread and place it into the versatile skillet for frying and sauteing.", + "Pick the braided top round bread up and place it in the versatile skillet for frying and sauteing", + "Move the palm-sized braided golden bread to the versatile skillet for frying and sauteing using the right arm.", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Pick up the round braided loaf and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the palm-sized braided golden bread to the versatile skillet for frying and sauteing.", + "Grab the round braided loaf and set it in the versatile skillet for frying and sauteing", + "Grab the round braided loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and drop it into the pan-shaped skillet with hole in handle.", + "Grab the braided top round bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the palm-sized braided golden bread up and place it in the versatile skillet for frying and sauteing", + "Move the round braided loaf to the versatile skillet for frying and sauteing using the right arm.", + "Take the braided top round bread and put it in the dark skillet with shiny finish", + "Pick up the braided top round bread and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the palm-sized braided golden bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the round braided loaf to the versatile skillet for frying and sauteing.", + "Grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and place it in the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the palm-sized braided golden bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the round braided loaf up and place it in the versatile skillet for frying and sauteing", + "Move the round braided loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Take the braided top round bread and put it in the dark skillet with shiny finish", + "Pick up the round braided loaf and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the round braided loaf to the dark skillet with shiny finish.", + "Grab the palm-sized braided golden bread and set it in the dark skillet with shiny finish", + "Grab the round braided loaf and place it in the dark skillet with shiny finish", + "Grab the braided top round bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the braided top round bread and place it into the versatile skillet for frying and sauteing.", + "Pick the palm-sized braided golden bread up and place it in the dark skillet with shiny finish", + "Move the round braided loaf to the dark skillet with shiny finish using the right arm.", + "Take the round braided loaf and put it in the dark skillet with shiny finish", + "Pick up the round braided loaf and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to grab the round braided loaf and set it in the dark skillet with shiny finish", + "Use the right arm to move the palm-sized braided golden bread to the pan-shaped skillet with hole in handle.", + "Grab the round braided loaf and set it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and place it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the braided top round bread and place it into the versatile skillet for frying and sauteing.", + "Pick the braided top round bread up and place it in the pan-shaped skillet with hole in handle", + "Move the round braided loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Take the palm-sized braided golden bread and put it in the dark skillet with shiny finish", + "Pick up the palm-sized braided golden bread and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the palm-sized braided golden bread and set it in the dark skillet with shiny finish", + "Use the right arm to move the palm-sized braided golden bread to the versatile skillet for frying and sauteing.", + "Grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and place it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the palm-sized braided golden bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the braided top round bread up and place it in the dark skillet with shiny finish", + "Move the round braided loaf to the versatile skillet for frying and sauteing using the right arm.", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Pick up the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the braided top round bread to the dark skillet with shiny finish.", + "Grab the palm-sized braided golden bread and set it in the dark skillet with shiny finish" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode46.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..0a3077a7b275aee499ce648b380c588e449f26c5 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the bread with split top for the metal skillet", + "Use the right arm to move the bread with warm golden color and set it into the metal skillet.", + "Take the soft brown bread and put it in the metal skillet with comfortable grip.", + "Use the right arm to take the light brown loaf with smooth sides and move it into the metal skillet.", + "Take the bread with warm golden color and drop it into the smooth non-stick skillet.", + "Grab the small golden brown bread and drop it into the dark gray skillet", + "Use the right arm to lift the soft brown bread and place it into the skillet with black cooking surface.", + "Take the hand-sized oval loaf and place it inside the round skillet with handle", + "Use the right arm to move the hand-sized oval loaf into the round skillet with handle", + "Pick up the hand-sized oval loaf and place it in the metal skillet with comfortable grip.", + "Grab the hand-sized oval loaf with the right arm and place in the skillet for frying food", + "Grab the small loaf with curved top from the table and set it in the smooth non-stick skillet.", + "Use the right arm to grab the bread with split top and set it in the smooth non-stick skillet.", + "Lift the soft brown bread and drop it into the black-surfaced skillet with gray sides", + "Move the small loaf with curved top into the dark gray skillet from the table", + "Put the smooth loaf with rounded edges into the round skillet with handle after grabbing it", + "Pick the bread with split top and transfer it to the gray skillet for stovetop cooking", + "Pick the smooth loaf with rounded edges off the table and place it in the dark gray skillet.", + "Take the light brown bread with ridges and set it into the flat-bottom skillet", + "Take the bread with split top off the table into the gray skillet for stovetop cooking", + "Lift the brown loaf using the right arm and move it to the metal skillet with comfortable grip", + "Pick up the smooth loaf with rounded edges with the right arm and drop it in the skillet for frying food", + "Place the small golden brown bread from the table into the metal skillet", + "Use the right arm to pick the brown loaf and place it into the medium-sized frying skillet.", + "Pick the bread with split top up using the right arm and drop it in the round skillet with open handle end.", + "Grab the brown loaf using the right arm and place it in the skillet for frying food", + "Put the light brown loaf with smooth sides into the flat-bottom skillet.", + "Move the small golden brown bread to the metal skillet with comfortable grip using the right arm", + "Use the right arm to pick the hand-sized oval loaf and put it in the metal skillet with comfortable grip", + "Move the light brown loaf with smooth sides from table into the skillet for frying food", + "Lift the brown loaf and drop it into the dark gray skillet.", + "Place the small golden brown bread into the smooth non-stick skillet using the right arm", + "Use the right arm to place the small loaf with curved top into the skillet for frying food", + "Take the hand-sized oval loaf with the right arm and drop into the metal skillet with comfortable grip", + "Transfer the golden bread loaf into the skillet for frying food from the table", + "Use the right arm to stick the light brown loaf with smooth sides into the metal skillet with comfortable grip.", + "Set the bread with golden-brown crust into the gray skillet for stovetop cooking after grabbing", + "Grab the small golden brown bread and place it inside the skillet with black cooking surface.", + "Grab the bread with golden-brown crust and stick it in the gray skillet for stovetop cooking.", + "Take the brown loaf and place it inside the smooth non-stick skillet", + "Use the right arm to pick the bread with warm golden color up for the skillet for frying food", + "Take the bread with warm golden color and put it in the skillet with black cooking surface.", + "Pick the smooth loaf with rounded edges and set it into the flat-bottom skillet.", + "Use the right arm to grab the light brown loaf with smooth sides for the flat-bottom skillet", + "Place the light brown bread with ridges into the black-surfaced skillet with gray sides with the right arm.", + "Use the right arm to pick the soft brown bread for the skillet for frying food", + "Pick the hand-sized oval loaf with the right arm and set it in the skillet with black cooking surface", + "Use the right arm to set the small loaf with curved top into the round skillet with handle.", + "Pick up the light brown loaf with smooth sides and put it in the round skillet with open handle end", + "Grab the small golden brown bread and place it inside the black-surfaced skillet with gray sides", + "Use the right arm to grab the smooth loaf with rounded edges for the dark gray skillet", + "Use the right arm to move the brown loaf and set it into the skillet with black cooking surface.", + "Take the light brown loaf with smooth sides and put it in the metal skillet with comfortable grip.", + "Use the right arm to take the bread with split top and move it into the dark gray skillet.", + "Take the bread with golden-brown crust and drop it into the flat-bottom skillet.", + "Grab the golden bread loaf and drop it into the metal skillet", + "Use the right arm to lift the small loaf with curved top and place it into the skillet for frying food.", + "Take the brown loaf and place it inside the round skillet with handle", + "Use the right arm to move the bread with golden-brown crust into the flat-bottom skillet", + "Pick up the hand-sized oval loaf and place it in the metal skillet with comfortable grip.", + "Grab the soft brown bread with the right arm and place in the flat-bottom skillet", + "Grab the small golden brown bread from the table and set it in the metal skillet with comfortable grip.", + "Use the right arm to grab the bread with warm golden color and set it in the smooth non-stick skillet.", + "Lift the soft brown bread and drop it into the flat-bottom skillet", + "Move the hand-sized oval loaf into the flat-bottom skillet from the table", + "Put the soft brown bread into the metal skillet after grabbing it", + "Pick the small loaf with curved top and transfer it to the black-surfaced skillet with gray sides", + "Pick the hand-sized oval loaf off the table and place it in the metal skillet with comfortable grip.", + "Take the soft brown bread and set it into the round skillet with handle", + "Take the soft brown bread off the table into the flat-bottom skillet", + "Lift the hand-sized oval loaf using the right arm and move it to the metal skillet", + "Pick up the smooth loaf with rounded edges with the right arm and drop it in the medium-sized frying skillet", + "Place the smooth loaf with rounded edges from the table into the skillet for frying food", + "Use the right arm to pick the bread with golden-brown crust and place it into the round skillet with open handle end.", + "Pick the hand-sized oval loaf up using the right arm and drop it in the round skillet with handle.", + "Grab the bread with golden-brown crust using the right arm and place it in the skillet for frying food", + "Put the bread with warm golden color into the gray skillet for stovetop cooking.", + "Move the soft brown bread to the skillet with black cooking surface using the right arm", + "Use the right arm to pick the hand-sized oval loaf and put it in the dark gray skillet", + "Move the light brown bread with ridges from table into the skillet with black cooking surface", + "Lift the hand-sized oval loaf and drop it into the skillet with black cooking surface.", + "Place the soft brown bread into the medium-sized frying skillet using the right arm", + "Use the right arm to place the bread with warm golden color into the gray skillet for stovetop cooking", + "Take the light brown bread with ridges with the right arm and drop into the metal skillet", + "Transfer the smooth loaf with rounded edges into the flat-bottom skillet from the table", + "Use the right arm to stick the bread with golden-brown crust into the round skillet with handle.", + "Set the bread with warm golden color into the metal skillet with comfortable grip after grabbing", + "Grab the hand-sized oval loaf and place it inside the round skillet with handle.", + "Grab the bread with golden-brown crust and stick it in the metal skillet.", + "Take the soft brown bread and place it inside the metal skillet", + "Use the right arm to pick the light brown loaf with smooth sides up for the medium-sized frying skillet", + "Take the soft brown bread and put it in the gray skillet for stovetop cooking.", + "Pick the light brown bread with ridges and set it into the skillet for frying food.", + "Use the right arm to grab the light brown bread with ridges for the medium-sized frying skillet", + "Place the smooth loaf with rounded edges into the dark gray skillet with the right arm.", + "Use the right arm to pick the smooth loaf with rounded edges for the medium-sized frying skillet", + "Pick the bread with golden-brown crust with the right arm and set it in the dark gray skillet", + "Use the right arm to set the small loaf with curved top into the round skillet with open handle end.", + "Pick up the small loaf with curved top and put it in the round skillet with open handle end", + "Grab the bread with split top and place it inside the black-surfaced skillet with gray sides" + ], + "unseen": [ + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the rounded oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Take the oval-shaped soft bread and put it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Use the right arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Move the oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Use the right arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Use the right arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Move the rounded oval bread to the dark skillet with shiny finish using the right arm.", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it in the dark skillet with shiny finish", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Use the right arm to move the oval bread to the dark skillet with shiny finish.", + "Use the right arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Move the rounded oval bread to the dark skillet with shiny finish using the right arm.", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the oval bread to the dark skillet with shiny finish.", + "Use the right arm to grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Move the rounded oval bread to the dark skillet with shiny finish using the right arm.", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Move the oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Use the right arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Use the right arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the dark skillet with shiny finish using the right arm.", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Use the right arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode47.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..39bf28a47989ccf003cb7bdaa593d959588d11bd --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick the small golden baked bread for the flat-bottomed skillet with long handle", + "Grab the braided bread loaf and drop it into the heavy black cooking skillet", + "Use the right arm to pick the round bread with braided top and place it into the round pan with hole in handle.", + "Take the small bread and drop it into the black skillet with smooth base.", + "Set the braided bread loaf into the black skillet with smooth base after grabbing", + "Take the round bread with crusty texture and set it into the flat-bottomed skillet with long handle", + "Take the golden brown bread and put it in the black pan with curved edges.", + "Place the round bread with braided top from the table into the round cooking pan", + "Lift the golden brown bread with braided design and drop it into the versatile skillet for stovetop cooking", + "Pick the soft golden bread and set it into the versatile skillet for stovetop cooking.", + "Use the right arm to grab the golden bread loaf with soft inside and set it in the versatile skillet for stovetop cooking.", + "Use the right arm to place the braided bread loaf into the round cooking pan", + "Pick the golden brown bread with the right arm and set it in the smooth round pan made of iron", + "Move the braided bread loaf to the heavy black cooking skillet using the right arm", + "Grab the bread with golden crust and place it inside the versatile skillet for stovetop cooking", + "Use the right arm to lift the soft doughy bread and place it into the round pan with hole in handle.", + "Place the round bread with braided top into the versatile skillet for stovetop cooking with the right arm.", + "Put the bread with golden crust into the black pan with curved edges after grabbing it", + "Take the round bread with crusty texture and put it in the heavy black cooking skillet.", + "Take the bread with golden crust and place it inside the medium black pan with handle", + "Use the right arm to pick the soft doughy bread up for the black skillet with smooth base", + "Put the soft golden bread into the round pan with hole in handle.", + "Move the soft golden bread from table into the versatile skillet for stovetop cooking", + "Lift the golden brown bread with braided design and drop it into the heavy black cooking skillet.", + "Take the round bread with braided top with the right arm and drop into the dark pan with sturdy grip", + "Pick the braided bread loaf up using the right arm and drop it in the heavy black cooking skillet.", + "Transfer the smooth crusty small bread into the dark pan with sturdy grip from the table", + "Pick up the bread with golden crust and place it in the dark pan with sturdy grip.", + "Use the right arm to stick the small bread into the medium black pan with handle.", + "Grab the small bread with the right arm and place in the black pan with curved edges", + "Place the golden bread loaf with soft inside into the medium black pan with handle using the right arm", + "Use the right arm to grab the braided bread loaf for the skillet with extended grip handle", + "Pick the braided bread loaf off the table and place it in the medium black pan with handle.", + "Use the right arm to pick the round bread with braided top and put it in the smooth round pan made of iron", + "Use the right arm to move the braided bread loaf into the round cooking pan", + "Use the right arm to take the braided bread loaf and move it into the versatile skillet for stovetop cooking.", + "Lift the small golden baked bread using the right arm and move it to the versatile skillet for stovetop cooking", + "Use the right arm to grab the golden brown bread with braided design for the versatile skillet for stovetop cooking", + "Pick up the small golden baked bread and put it in the solid dark-colored round pan", + "Grab the bread with golden crust from the table and set it in the round pan with hole in handle.", + "Grab the small bread using the right arm and place it in the heavy black cooking skillet", + "Take the bread with golden crust and place it inside the skillet with extended grip handle", + "Pick the smooth crusty small bread and transfer it to the round cooking pan", + "Take the round bread with crusty texture off the table into the round pan with hole in handle", + "Use the right arm to move the smooth crusty small bread and set it into the round pan with hole in handle.", + "Grab the small golden baked bread and place it inside the round pan with hole in handle.", + "Grab the round bread with crusty texture and stick it in the versatile skillet for stovetop cooking.", + "Pick up the golden bread loaf with soft inside with the right arm and drop it in the versatile skillet for stovetop cooking", + "Move the small golden baked bread into the solid dark-colored round pan from the table", + "Use the right arm to set the bread with golden crust into the round pan with hole in handle.", + "Use the right arm to pick the golden brown bread for the round pan with hole in handle", + "Grab the smooth crusty small bread and drop it into the heavy black cooking skillet", + "Use the right arm to pick the golden brown bread with braided design and place it into the round cooking pan.", + "Take the soft golden bread and drop it into the dark pan with sturdy grip.", + "Set the small bread into the dark pan with sturdy grip after grabbing", + "Take the round bread with braided top and set it into the heavy black cooking skillet", + "Take the round bread with braided top and put it in the dark pan with sturdy grip.", + "Place the smooth crusty small bread from the table into the round cooking pan", + "Lift the round bread with braided top and drop it into the round cooking pan", + "Pick the golden bread loaf with soft inside and set it into the smooth round pan made of iron.", + "Use the right arm to grab the small bread and set it in the black skillet with smooth base.", + "Use the right arm to place the small bread into the round cooking pan", + "Pick the bread with golden crust with the right arm and set it in the skillet with extended grip handle", + "Move the golden brown bread with braided design to the round cooking pan using the right arm", + "Grab the small golden baked bread and place it inside the black pan with curved edges", + "Use the right arm to lift the smooth crusty small bread and place it into the medium black pan with handle.", + "Place the small golden baked bread into the black skillet with smooth base with the right arm.", + "Put the small golden baked bread into the skillet with extended grip handle after grabbing it", + "Take the golden bread loaf with soft inside and put it in the round pan with hole in handle.", + "Take the bread with golden crust and place it inside the skillet with extended grip handle", + "Use the right arm to pick the round bread with crusty texture up for the round cooking pan", + "Put the golden brown bread into the solid dark-colored round pan.", + "Move the smooth crusty small bread from table into the black pan with curved edges", + "Lift the soft doughy bread and drop it into the skillet with extended grip handle.", + "Take the golden brown bread with braided design with the right arm and drop into the round cooking pan", + "Pick the soft doughy bread up using the right arm and drop it in the solid dark-colored round pan.", + "Transfer the braided bread loaf into the versatile skillet for stovetop cooking from the table", + "Pick up the round bread with braided top and place it in the black pan with curved edges.", + "Use the right arm to stick the soft doughy bread into the round cooking pan.", + "Grab the braided bread loaf with the right arm and place in the black skillet with smooth base", + "Place the small golden baked bread into the heavy black cooking skillet using the right arm", + "Use the right arm to grab the golden brown bread with braided design for the solid dark-colored round pan", + "Pick the golden bread loaf with soft inside off the table and place it in the black pan with curved edges.", + "Use the right arm to pick the golden brown bread with braided design and put it in the round pan with hole in handle", + "Use the right arm to move the bread with golden crust into the round cooking pan", + "Use the right arm to take the bread with golden crust and move it into the smooth round pan made of iron.", + "Lift the small golden baked bread using the right arm and move it to the round cooking pan", + "Use the right arm to grab the bread with golden crust for the black skillet with smooth base", + "Pick up the soft golden bread and put it in the flat-bottomed skillet with long handle", + "Grab the soft golden bread from the table and set it in the round cooking pan.", + "Grab the small bread using the right arm and place it in the dark pan with sturdy grip", + "Take the golden brown bread with braided design and place it inside the round pan with hole in handle", + "Pick the golden bread loaf with soft inside and transfer it to the skillet with extended grip handle", + "Take the smooth crusty small bread off the table into the heavy black cooking skillet", + "Use the right arm to move the bread with golden crust and set it into the round pan with hole in handle.", + "Grab the golden brown bread and place it inside the flat-bottomed skillet with long handle.", + "Grab the small bread and stick it in the flat-bottomed skillet with long handle.", + "Pick up the bread with golden crust with the right arm and drop it in the black pan with curved edges", + "Move the braided bread loaf into the flat-bottomed skillet with long handle from the table", + "Use the right arm to set the small golden baked bread into the heavy black cooking skillet." + ], + "unseen": [ + "Take the braided top round bread and put it in the iron skillet for frying foods", + "Grab the braided top round bread and place it in the black skillet", + "Pick the palm-sized braided golden bread up and place it in the round cast-iron skillet", + "Move the palm-sized braided golden bread to the iron skillet for frying foods using the right arm.", + "Grab the round braided loaf and place it into the black skillet.", + "Grab the palm-sized braided golden bread and drop it into the round cast-iron skillet.", + "Use the right arm to move the round braided loaf to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and set it in the black skillet", + "Pick up the palm-sized braided golden bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the braided top round bread and set it in the black skillet", + "Take the braided top round bread and put it in the round cast-iron skillet", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Pick the braided top round bread up and place it in the black skillet", + "Move the braided top round bread to the round cast-iron skillet using the right arm.", + "Grab the palm-sized braided golden bread and place it into the iron skillet for frying foods.", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Use the right arm to move the braided top round bread to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Pick up the round braided loaf and drop it into the black skillet", + "Use the right arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Take the round braided loaf and put it in the black skillet", + "Grab the round braided loaf and place it in the black skillet", + "Pick the round braided loaf up and place it in the round cast-iron skillet", + "Move the palm-sized braided golden bread to the round cast-iron skillet using the right arm.", + "Grab the round braided loaf and place it into the round cast-iron skillet.", + "Grab the round braided loaf and drop it into the round cast-iron skillet.", + "Use the right arm to move the braided top round bread to the iron skillet for frying foods.", + "Grab the round braided loaf and set it in the black skillet", + "Pick up the braided top round bread and drop it into the black skillet", + "Use the right arm to grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Take the palm-sized braided golden bread and put it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and place it in the round cast-iron skillet", + "Pick the round braided loaf up and place it in the round cast-iron skillet", + "Move the braided top round bread to the iron skillet for frying foods using the right arm.", + "Grab the palm-sized braided golden bread and place it into the iron skillet for frying foods.", + "Grab the round braided loaf and drop it into the round cast-iron skillet.", + "Use the right arm to move the round braided loaf to the round cast-iron skillet.", + "Grab the braided top round bread and set it in the round cast-iron skillet", + "Pick up the round braided loaf and drop it into the round cast-iron skillet", + "Use the right arm to grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Take the palm-sized braided golden bread and put it in the round cast-iron skillet", + "Grab the round braided loaf and place it in the round cast-iron skillet", + "Pick the round braided loaf up and place it in the round cast-iron skillet", + "Move the round braided loaf to the black skillet using the right arm.", + "Grab the braided top round bread and place it into the round cast-iron skillet.", + "Grab the palm-sized braided golden bread and drop it into the iron skillet for frying foods.", + "Use the right arm to move the braided top round bread to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Pick up the palm-sized braided golden bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Take the round braided loaf and put it in the iron skillet for frying foods", + "Grab the round braided loaf and place it in the round cast-iron skillet", + "Pick the round braided loaf up and place it in the iron skillet for frying foods", + "Move the palm-sized braided golden bread to the round cast-iron skillet using the right arm.", + "Grab the palm-sized braided golden bread and place it into the round cast-iron skillet.", + "Grab the palm-sized braided golden bread and drop it into the iron skillet for frying foods.", + "Use the right arm to move the braided top round bread to the iron skillet for frying foods.", + "Grab the round braided loaf and set it in the round cast-iron skillet", + "Pick up the braided top round bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the braided top round bread and set it in the iron skillet for frying foods", + "Take the braided top round bread and put it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and place it in the round cast-iron skillet", + "Pick the braided top round bread up and place it in the round cast-iron skillet", + "Move the round braided loaf to the black skillet using the right arm.", + "Grab the round braided loaf and place it into the round cast-iron skillet.", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Use the right arm to move the braided top round bread to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Pick up the round braided loaf and drop it into the round cast-iron skillet", + "Use the right arm to grab the braided top round bread and set it in the iron skillet for frying foods", + "Take the round braided loaf and put it in the round cast-iron skillet", + "Grab the round braided loaf and place it in the round cast-iron skillet", + "Pick the round braided loaf up and place it in the iron skillet for frying foods", + "Move the palm-sized braided golden bread to the iron skillet for frying foods using the right arm.", + "Grab the round braided loaf and place it into the iron skillet for frying foods.", + "Grab the round braided loaf and drop it into the round cast-iron skillet.", + "Use the right arm to move the round braided loaf to the iron skillet for frying foods.", + "Grab the braided top round bread and set it in the iron skillet for frying foods", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the round braided loaf and set it in the black skillet", + "Take the palm-sized braided golden bread and put it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and place it in the black skillet", + "Pick the palm-sized braided golden bread up and place it in the iron skillet for frying foods", + "Move the braided top round bread to the round cast-iron skillet using the right arm.", + "Grab the round braided loaf and place it into the black skillet.", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Use the right arm to move the round braided loaf to the round cast-iron skillet.", + "Grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Pick up the braided top round bread and drop it into the black skillet", + "Use the right arm to grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Take the round braided loaf and put it in the black skillet", + "Grab the braided top round bread and place it in the black skillet", + "Pick the palm-sized braided golden bread up and place it in the round cast-iron skillet", + "Move the round braided loaf to the black skillet using the right arm.", + "Grab the palm-sized braided golden bread and place it into the iron skillet for frying foods.", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Use the right arm to move the braided top round bread to the black skillet.", + "Grab the round braided loaf and set it in the iron skillet for frying foods", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the palm-sized braided golden bread and set it in the iron skillet for frying foods" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode48.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..39f735a1bc27141402501ef25119daf5eb115cf5 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the smooth crusty small bread up using the right arm and drop it in the flat-bottomed skillet with long handle.", + "Place the soft golden bread from the table into the solid dark-colored round pan", + "Move the soft doughy bread from table into the black pan with curved edges", + "Grab the small bread from the table and set it in the versatile skillet for stovetop cooking.", + "Use the right arm to take the bread with golden crust and move it into the solid dark-colored round pan.", + "Use the right arm to lift the bread with golden crust and place it into the black pan with curved edges.", + "Pick the bread with golden crust and transfer it to the black skillet with smooth base", + "Use the right arm to place the braided bread loaf into the round pan with hole in handle", + "Use the right arm to grab the golden brown bread and set it in the black pan with curved edges.", + "Use the right arm to set the soft doughy bread into the round cooking pan.", + "Place the small bread into the black pan with curved edges using the right arm", + "Pick the smooth crusty small bread off the table and place it in the black pan with curved edges.", + "Use the right arm to grab the golden bread loaf with soft inside for the dark pan with sturdy grip", + "Pick the braided bread loaf and set it into the dark pan with sturdy grip.", + "Use the right arm to pick the round bread with braided top and put it in the round cooking pan", + "Take the smooth crusty small bread and set it into the flat-bottomed skillet with long handle", + "Take the soft doughy bread and place it inside the black pan with curved edges", + "Put the soft doughy bread into the medium black pan with handle.", + "Grab the golden bread loaf with soft inside and place it inside the smooth round pan made of iron.", + "Move the bread with golden crust into the black pan with curved edges from the table", + "Take the round bread with braided top with the right arm and drop into the versatile skillet for stovetop cooking", + "Grab the bread with golden crust with the right arm and place in the black skillet with smooth base", + "Lift the soft doughy bread and drop it into the versatile skillet for stovetop cooking", + "Pick the round bread with crusty texture with the right arm and set it in the dark pan with sturdy grip", + "Use the right arm to move the small bread and set it into the black skillet with smooth base.", + "Grab the smooth crusty small bread using the right arm and place it in the solid dark-colored round pan", + "Take the small golden baked bread off the table into the flat-bottomed skillet with long handle", + "Lift the small golden baked bread and drop it into the heavy black cooking skillet.", + "Grab the soft golden bread and place it inside the medium black pan with handle", + "Use the right arm to pick the smooth crusty small bread up for the round pan with hole in handle", + "Use the right arm to pick the round bread with crusty texture for the round pan with hole in handle", + "Set the small golden baked bread into the flat-bottomed skillet with long handle after grabbing", + "Take the golden bread loaf with soft inside and put it in the black pan with curved edges.", + "Lift the small bread using the right arm and move it to the solid dark-colored round pan", + "Move the smooth crusty small bread to the smooth round pan made of iron using the right arm", + "Take the golden bread loaf with soft inside and put it in the versatile skillet for stovetop cooking.", + "Grab the round bread with braided top and stick it in the heavy black cooking skillet.", + "Put the golden brown bread with braided design into the smooth round pan made of iron after grabbing it", + "Place the small bread into the dark pan with sturdy grip with the right arm.", + "Use the right arm to move the small golden baked bread into the black pan with curved edges", + "Transfer the soft golden bread into the round pan with hole in handle from the table", + "Pick up the smooth crusty small bread with the right arm and drop it in the black pan with curved edges", + "Pick up the braided bread loaf and place it in the heavy black cooking skillet.", + "Take the soft doughy bread and place it inside the solid dark-colored round pan", + "Grab the round bread with crusty texture and drop it into the smooth round pan made of iron", + "Use the right arm to stick the soft doughy bread into the smooth round pan made of iron.", + "Take the golden brown bread with braided design and drop it into the black pan with curved edges.", + "Pick up the golden brown bread and put it in the dark pan with sturdy grip", + "Use the right arm to grab the braided bread loaf for the round cooking pan", + "Use the right arm to pick the golden brown bread with braided design and place it into the round pan with hole in handle.", + "Pick the soft doughy bread up using the right arm and drop it in the black pan with curved edges.", + "Place the soft doughy bread from the table into the round pan with hole in handle", + "Move the golden brown bread from table into the smooth round pan made of iron", + "Grab the round bread with crusty texture from the table and set it in the black skillet with smooth base.", + "Use the right arm to take the soft doughy bread and move it into the heavy black cooking skillet.", + "Use the right arm to lift the golden brown bread and place it into the round pan with hole in handle.", + "Pick the golden bread loaf with soft inside and transfer it to the round pan with hole in handle", + "Use the right arm to place the smooth crusty small bread into the versatile skillet for stovetop cooking", + "Use the right arm to grab the braided bread loaf and set it in the medium black pan with handle.", + "Use the right arm to set the small bread into the round pan with hole in handle.", + "Place the braided bread loaf into the black skillet with smooth base using the right arm", + "Pick the golden brown bread off the table and place it in the versatile skillet for stovetop cooking.", + "Use the right arm to grab the small golden baked bread for the flat-bottomed skillet with long handle", + "Pick the golden brown bread and set it into the solid dark-colored round pan.", + "Use the right arm to pick the soft golden bread and put it in the smooth round pan made of iron", + "Take the small bread and set it into the heavy black cooking skillet", + "Take the golden brown bread and place it inside the dark pan with sturdy grip", + "Put the soft golden bread into the skillet with extended grip handle.", + "Grab the bread with golden crust and place it inside the medium black pan with handle.", + "Move the small bread into the solid dark-colored round pan from the table", + "Take the small golden baked bread with the right arm and drop into the round pan with hole in handle", + "Grab the smooth crusty small bread with the right arm and place in the round cooking pan", + "Lift the soft golden bread and drop it into the dark pan with sturdy grip", + "Pick the soft golden bread with the right arm and set it in the skillet with extended grip handle", + "Use the right arm to move the soft golden bread and set it into the black skillet with smooth base.", + "Grab the soft golden bread using the right arm and place it in the skillet with extended grip handle", + "Take the soft golden bread off the table into the smooth round pan made of iron", + "Lift the golden bread loaf with soft inside and drop it into the dark pan with sturdy grip.", + "Grab the small bread and place it inside the solid dark-colored round pan", + "Use the right arm to pick the bread with golden crust up for the heavy black cooking skillet", + "Use the right arm to pick the smooth crusty small bread for the round pan with hole in handle", + "Set the golden brown bread into the black pan with curved edges after grabbing", + "Take the round bread with braided top and put it in the skillet with extended grip handle.", + "Lift the golden brown bread with braided design using the right arm and move it to the skillet with extended grip handle", + "Move the braided bread loaf to the flat-bottomed skillet with long handle using the right arm", + "Take the soft golden bread and put it in the black pan with curved edges.", + "Grab the golden brown bread and stick it in the flat-bottomed skillet with long handle.", + "Put the golden brown bread into the heavy black cooking skillet after grabbing it", + "Place the soft golden bread into the flat-bottomed skillet with long handle with the right arm.", + "Use the right arm to move the small bread into the versatile skillet for stovetop cooking", + "Transfer the braided bread loaf into the medium black pan with handle from the table", + "Pick up the round bread with braided top with the right arm and drop it in the heavy black cooking skillet", + "Pick up the smooth crusty small bread and place it in the solid dark-colored round pan.", + "Take the golden bread loaf with soft inside and place it inside the medium black pan with handle", + "Grab the round bread with crusty texture and drop it into the heavy black cooking skillet", + "Use the right arm to stick the smooth crusty small bread into the dark pan with sturdy grip.", + "Take the soft doughy bread and drop it into the black skillet with smooth base.", + "Pick up the round bread with crusty texture and put it in the solid dark-colored round pan", + "Use the right arm to grab the braided bread loaf for the round cooking pan", + "Use the right arm to pick the golden bread loaf with soft inside and place it into the versatile skillet for stovetop cooking." + ], + "unseen": [ + "Take the braided top round bread and put it in the black skillet", + "Use the right arm to move the round braided loaf to the black skillet.", + "Grab the round braided loaf and set it in the round cast-iron skillet", + "Grab the round braided loaf and drop it into the black skillet.", + "Pick up the braided top round bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the braided top round bread and set it in the round cast-iron skillet", + "Move the braided top round bread to the iron skillet for frying foods using the right arm.", + "Grab the palm-sized braided golden bread and place it in the black skillet", + "Pick the round braided loaf up and place it in the iron skillet for frying foods", + "Grab the braided top round bread and place it into the iron skillet for frying foods.", + "Take the braided top round bread and put it in the black skillet", + "Use the right arm to move the braided top round bread to the iron skillet for frying foods.", + "Grab the round braided loaf and set it in the black skillet", + "Grab the palm-sized braided golden bread and drop it into the black skillet.", + "Pick up the palm-sized braided golden bread and drop it into the black skillet", + "Use the right arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Move the braided top round bread to the black skillet using the right arm.", + "Grab the braided top round bread and place it in the iron skillet for frying foods", + "Pick the braided top round bread up and place it in the iron skillet for frying foods", + "Grab the braided top round bread and place it into the iron skillet for frying foods.", + "Take the round braided loaf and put it in the round cast-iron skillet", + "Use the right arm to move the braided top round bread to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and set it in the black skillet", + "Grab the palm-sized braided golden bread and drop it into the black skillet.", + "Pick up the braided top round bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the round braided loaf and set it in the black skillet", + "Move the palm-sized braided golden bread to the round cast-iron skillet using the right arm.", + "Grab the braided top round bread and place it in the round cast-iron skillet", + "Pick the round braided loaf up and place it in the round cast-iron skillet", + "Grab the braided top round bread and place it into the round cast-iron skillet.", + "Take the palm-sized braided golden bread and put it in the black skillet", + "Use the right arm to move the palm-sized braided golden bread to the black skillet.", + "Grab the round braided loaf and set it in the iron skillet for frying foods", + "Grab the braided top round bread and drop it into the black skillet.", + "Pick up the braided top round bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the round braided loaf and set it in the black skillet", + "Move the round braided loaf to the iron skillet for frying foods using the right arm.", + "Grab the palm-sized braided golden bread and place it in the black skillet", + "Pick the palm-sized braided golden bread up and place it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and place it into the iron skillet for frying foods.", + "Take the palm-sized braided golden bread and put it in the iron skillet for frying foods", + "Use the right arm to move the palm-sized braided golden bread to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Grab the braided top round bread and drop it into the iron skillet for frying foods.", + "Pick up the braided top round bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the round braided loaf and set it in the black skillet", + "Move the round braided loaf to the black skillet using the right arm.", + "Grab the braided top round bread and place it in the black skillet", + "Pick the braided top round bread up and place it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and place it into the iron skillet for frying foods.", + "Take the round braided loaf and put it in the black skillet", + "Use the right arm to move the palm-sized braided golden bread to the black skillet.", + "Grab the round braided loaf and set it in the iron skillet for frying foods", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Pick up the braided top round bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the braided top round bread and set it in the black skillet", + "Move the braided top round bread to the black skillet using the right arm.", + "Grab the palm-sized braided golden bread and place it in the round cast-iron skillet", + "Pick the braided top round bread up and place it in the black skillet", + "Grab the round braided loaf and place it into the iron skillet for frying foods.", + "Take the round braided loaf and put it in the iron skillet for frying foods", + "Use the right arm to move the round braided loaf to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Grab the round braided loaf and drop it into the black skillet.", + "Pick up the round braided loaf and drop it into the iron skillet for frying foods", + "Use the right arm to grab the round braided loaf and set it in the black skillet", + "Move the round braided loaf to the black skillet using the right arm.", + "Grab the round braided loaf and place it in the black skillet", + "Pick the braided top round bread up and place it in the black skillet", + "Grab the braided top round bread and place it into the black skillet.", + "Take the round braided loaf and put it in the iron skillet for frying foods", + "Use the right arm to move the round braided loaf to the black skillet.", + "Grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and drop it into the round cast-iron skillet.", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the round braided loaf and set it in the black skillet", + "Move the round braided loaf to the black skillet using the right arm.", + "Grab the palm-sized braided golden bread and place it in the black skillet", + "Pick the palm-sized braided golden bread up and place it in the black skillet", + "Grab the palm-sized braided golden bread and place it into the black skillet.", + "Take the braided top round bread and put it in the black skillet", + "Use the right arm to move the palm-sized braided golden bread to the round cast-iron skillet.", + "Grab the round braided loaf and set it in the black skillet", + "Grab the palm-sized braided golden bread and drop it into the iron skillet for frying foods.", + "Pick up the round braided loaf and drop it into the round cast-iron skillet", + "Use the right arm to grab the round braided loaf and set it in the round cast-iron skillet", + "Move the palm-sized braided golden bread to the iron skillet for frying foods using the right arm.", + "Grab the palm-sized braided golden bread and place it in the round cast-iron skillet", + "Pick the palm-sized braided golden bread up and place it in the black skillet", + "Grab the braided top round bread and place it into the iron skillet for frying foods.", + "Take the braided top round bread and put it in the black skillet", + "Use the right arm to move the braided top round bread to the round cast-iron skillet.", + "Grab the round braided loaf and set it in the round cast-iron skillet", + "Grab the round braided loaf and drop it into the black skillet.", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Move the braided top round bread to the black skillet using the right arm.", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Pick the braided top round bread up and place it in the round cast-iron skillet", + "Grab the round braided loaf and place it into the black skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode49.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..f2564945d24f3ef271105b62802f7bc0b090689f --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the golden baked bread off the table into the round skillet with handle", + "Take the rounded square loaf with the left arm and drop into the round skillet with open handle end", + "Use the left arm to lift the rounded square loaf and place it into the round skillet with open handle end.", + "Use the left arm to pick the rounded square loaf and place it into the skillet for frying food.", + "Take the medium bread with rounded sides and put it in the smooth non-stick skillet.", + "Lift the rounded square loaf and drop it into the gray skillet for stovetop cooking", + "Put the medium-sized bread piece into the skillet with black cooking surface.", + "Take the soft square bread and set it into the skillet for frying food", + "Place the rounded square loaf into the gray skillet for stovetop cooking with the left arm.", + "Transfer the bread with rounded edges into the round skillet with handle from the table", + "Grab the sponge-textured golden bread and drop it into the smooth non-stick skillet", + "Take the square-shaped bread piece and drop it into the round skillet with open handle end.", + "Use the left arm to pick the soft square bread up for the metal skillet with comfortable grip", + "Lift the square-shaped bread piece using the left arm and move it to the dark gray skillet", + "Pick up the sponge-textured golden bread with the left arm and drop it in the flat-bottom skillet", + "Grab the bread with soft texture using the left arm and place it in the round skillet with handle", + "Use the left arm to move the golden baked bread into the round skillet with handle", + "Use the left arm to stick the golden brown bread into the dark gray skillet.", + "Lift the bread with rounded edges and drop it into the metal skillet.", + "Move the soft square bread from table into the black-surfaced skillet with gray sides", + "Use the left arm to move the rounded square loaf and set it into the flat-bottom skillet.", + "Use the left arm to pick the medium bread with rounded sides and put it in the round skillet with handle", + "Use the left arm to place the golden baked bread into the medium-sized frying skillet", + "Grab the soft square bread and place it inside the round skillet with handle", + "Move the fluffy baked bread to the skillet for frying food using the left arm", + "Pick the medium-sized bread piece up using the left arm and drop it in the round skillet with handle.", + "Use the left arm to pick the light brown porous bread for the medium-sized frying skillet", + "Place the bread with soft texture into the round skillet with open handle end using the left arm", + "Grab the fluffy baked bread from the table and set it in the black-surfaced skillet with gray sides.", + "Take the medium bread with rounded sides and put it in the metal skillet with comfortable grip.", + "Grab the soft square bread with the left arm and place in the skillet with black cooking surface", + "Grab the medium-sized bread piece and stick it in the skillet for frying food.", + "Set the sponge-textured golden bread into the round skillet with open handle end after grabbing", + "Move the bread with rounded edges into the metal skillet with comfortable grip from the table", + "Pick up the rounded square loaf and place it in the metal skillet with comfortable grip.", + "Use the left arm to grab the fluffy baked bread for the dark gray skillet", + "Pick the fluffy baked bread with the left arm and set it in the skillet with black cooking surface", + "Pick the bread with rounded edges off the table and place it in the gray skillet for stovetop cooking.", + "Grab the medium-sized bread piece and place it inside the black-surfaced skillet with gray sides.", + "Pick the sponge-textured golden bread and set it into the gray skillet for stovetop cooking.", + "Put the bread with soft texture into the flat-bottom skillet after grabbing it", + "Use the left arm to take the bread with rounded edges and move it into the skillet for frying food.", + "Take the bread with soft texture and place it inside the round skillet with open handle end", + "Pick the medium bread with rounded sides and transfer it to the gray skillet for stovetop cooking", + "Pick up the rounded square loaf and put it in the metal skillet", + "Use the left arm to grab the bread with soft texture for the skillet for frying food", + "Take the sponge-textured golden bread and place it inside the metal skillet", + "Place the golden baked bread from the table into the round skillet with handle", + "Use the left arm to grab the rounded square loaf and set it in the smooth non-stick skillet.", + "Use the left arm to set the square-shaped bread piece into the smooth non-stick skillet.", + "Take the sponge-textured golden bread off the table into the black-surfaced skillet with gray sides", + "Take the square-shaped bread piece with the left arm and drop into the skillet for frying food", + "Use the left arm to lift the square-shaped bread piece and place it into the medium-sized frying skillet.", + "Use the left arm to pick the bread with soft texture and place it into the smooth non-stick skillet.", + "Take the square-shaped bread piece and put it in the medium-sized frying skillet.", + "Lift the fluffy baked bread and drop it into the gray skillet for stovetop cooking", + "Put the rounded square loaf into the gray skillet for stovetop cooking.", + "Take the bread with soft texture and set it into the skillet with black cooking surface", + "Place the medium bread with rounded sides into the smooth non-stick skillet with the left arm.", + "Transfer the fluffy baked bread into the metal skillet from the table", + "Grab the sponge-textured golden bread and drop it into the skillet for frying food", + "Take the square-shaped bread piece and drop it into the smooth non-stick skillet.", + "Use the left arm to pick the bread with rounded edges up for the dark gray skillet", + "Lift the sponge-textured golden bread using the left arm and move it to the skillet with black cooking surface", + "Pick up the soft square bread with the left arm and drop it in the dark gray skillet", + "Grab the bread with soft texture using the left arm and place it in the skillet with black cooking surface", + "Use the left arm to move the golden brown bread into the metal skillet with comfortable grip", + "Use the left arm to stick the light brown porous bread into the skillet for frying food.", + "Lift the bread with soft texture and drop it into the gray skillet for stovetop cooking.", + "Move the bread with rounded edges from table into the smooth non-stick skillet", + "Use the left arm to move the rounded square loaf and set it into the metal skillet.", + "Use the left arm to pick the light brown porous bread and put it in the flat-bottom skillet", + "Use the left arm to place the bread with soft texture into the black-surfaced skillet with gray sides", + "Grab the square-shaped bread piece and place it inside the metal skillet with comfortable grip", + "Move the square-shaped bread piece to the round skillet with handle using the left arm", + "Pick the soft square bread up using the left arm and drop it in the black-surfaced skillet with gray sides.", + "Use the left arm to pick the soft square bread for the dark gray skillet", + "Place the rounded square loaf into the medium-sized frying skillet using the left arm", + "Grab the soft square bread from the table and set it in the dark gray skillet.", + "Take the fluffy baked bread and put it in the skillet for frying food.", + "Grab the fluffy baked bread with the left arm and place in the metal skillet", + "Grab the medium bread with rounded sides and stick it in the black-surfaced skillet with gray sides.", + "Set the bread with rounded edges into the round skillet with open handle end after grabbing", + "Move the fluffy baked bread into the metal skillet with comfortable grip from the table", + "Pick up the golden brown bread and place it in the skillet with black cooking surface.", + "Use the left arm to grab the sponge-textured golden bread for the round skillet with open handle end", + "Pick the bread with rounded edges with the left arm and set it in the skillet with black cooking surface", + "Pick the square-shaped bread piece off the table and place it in the round skillet with handle.", + "Grab the bread with rounded edges and place it inside the metal skillet with comfortable grip.", + "Pick the soft square bread and set it into the round skillet with open handle end.", + "Put the medium-sized bread piece into the metal skillet after grabbing it", + "Use the left arm to take the golden brown bread and move it into the dark gray skillet.", + "Take the soft square bread and place it inside the round skillet with open handle end", + "Pick the bread with rounded edges and transfer it to the medium-sized frying skillet", + "Pick up the golden baked bread and put it in the flat-bottom skillet", + "Use the left arm to grab the medium-sized bread piece for the skillet with black cooking surface", + "Take the medium bread with rounded sides and place it inside the gray skillet for stovetop cooking", + "Place the fluffy baked bread from the table into the smooth non-stick skillet", + "Use the left arm to grab the rounded square loaf and set it in the gray skillet for stovetop cooking.", + "Use the left arm to set the rounded square loaf into the flat-bottom skillet." + ], + "unseen": [ + "Use the left arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing.", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Use the left arm to move the spongy golden brown bread to the versatile skillet for frying and sauteing.", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Pick up the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Take the spongy golden brown bread and put it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Pick the soft bread with golden edges up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Take the soft bread with golden edges and put it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Use the left arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Take the soft bread with golden edges and put it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Use the left arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the left arm.", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Take the spongy golden brown bread and put it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the spongy golden brown bread to the versatile skillet for frying and sauteing.", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the versatile skillet for frying and sauteing using the left arm.", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Use the left arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Grab the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the left arm.", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Take the spongy golden brown bread and put it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the soft bread with golden edges to the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Pick up the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Grab the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the soft bread with golden edges up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the square bread with light spots and place it in the versatile skillet for frying and sauteing", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Take the soft bread with golden edges and put it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Use the left arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the left arm.", + "Grab the square bread with light spots and place it in the pan-shaped skillet with hole in handle", + "Pick up the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode5.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..1de0587ed1071b2f99370b707f55a7be161621b9 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to take the square-shaped bread and move it into the metal skillet with comfortable grip.", + "Grab the bread with rough texture with the right arm and place in the round skillet with handle", + "Take the bread loaf with uneven edges and place it inside the black-surfaced skillet with gray sides", + "Use the right arm to set the bread block with light patches into the smooth non-stick skillet.", + "Move the square-shaped bread from table into the skillet for frying food", + "Place the hand-sized bread block into the skillet with black cooking surface with the right arm.", + "Use the right arm to grab the bread with rough texture for the medium-sized frying skillet", + "Use the right arm to lift the golden bread loaf and place it into the dark gray skillet.", + "Pick the square-shaped bread off the table and place it in the metal skillet with comfortable grip.", + "Move the bread loaf with uneven edges to the medium-sized frying skillet using the right arm", + "Pick up the bread loaf with bumpy surface and put it in the smooth non-stick skillet", + "Grab the light golden brown bread and drop it into the metal skillet", + "Use the right arm to move the light golden brown bread and set it into the medium-sized frying skillet.", + "Pick the bread loaf with bumpy surface up using the right arm and drop it in the dark gray skillet.", + "Grab the bread loaf with bumpy surface from the table and set it in the flat-bottom skillet.", + "Put the bread block with light patches into the dark gray skillet after grabbing it", + "Pick the golden bread and set it into the round skillet with handle.", + "Move the golden bread into the smooth non-stick skillet from the table", + "Grab the bread loaf with bumpy surface and place it inside the skillet for frying food", + "Pick up the bread loaf with uneven edges with the right arm and drop it in the black-surfaced skillet with gray sides", + "Take the golden bread loaf with the right arm and drop into the metal skillet with comfortable grip", + "Place the hand-sized bread block into the skillet for frying food using the right arm", + "Take the golden bread loaf and place it inside the skillet for frying food", + "Use the right arm to pick the doughy and soft bread and put it in the skillet for frying food", + "Put the bread loaf with bumpy surface into the flat-bottom skillet.", + "Use the right arm to pick the bread with rough texture for the gray skillet for stovetop cooking", + "Use the right arm to pick the soft bread and place it into the skillet for frying food.", + "Use the right arm to grab the cuboid bread for the skillet for frying food", + "Use the right arm to place the bread loaf with bumpy surface into the skillet for frying food", + "Take the soft bread and put it in the skillet for frying food.", + "Grab the soft bread using the right arm and place it in the round skillet with handle", + "Take the square-shaped bread off the table into the round skillet with handle", + "Use the right arm to stick the hand-sized bread block into the metal skillet with comfortable grip.", + "Transfer the square-shaped bread into the medium-sized frying skillet from the table", + "Use the right arm to move the bread loaf with uneven edges into the medium-sized frying skillet", + "Lift the soft bread and drop it into the flat-bottom skillet", + "Place the cuboid bread from the table into the gray skillet for stovetop cooking", + "Take the golden bread and drop it into the smooth non-stick skillet.", + "Lift the soft bread and drop it into the black-surfaced skillet with gray sides.", + "Take the bread with rough texture and set it into the round skillet with open handle end", + "Use the right arm to pick the hand-sized bread block up for the metal skillet", + "Pick the bread loaf with uneven edges with the right arm and set it in the medium-sized frying skillet", + "Lift the soft bread using the right arm and move it to the medium-sized frying skillet", + "Grab the bread with rough texture and stick it in the metal skillet with comfortable grip.", + "Pick up the golden bread and place it in the dark gray skillet.", + "Use the right arm to grab the bread loaf with uneven edges and set it in the gray skillet for stovetop cooking.", + "Set the bread loaf with uneven edges into the medium-sized frying skillet after grabbing", + "Grab the hand-sized bread block and place it inside the metal skillet.", + "Pick the cuboid bread and transfer it to the smooth non-stick skillet", + "Take the cuboid bread and put it in the round skillet with open handle end.", + "Use the right arm to take the square-shaped bread and move it into the round skillet with open handle end.", + "Grab the bread loaf with bumpy surface with the right arm and place in the round skillet with handle", + "Take the doughy and soft bread and place it inside the round skillet with open handle end", + "Use the right arm to set the cuboid bread into the medium-sized frying skillet.", + "Move the bread with rough texture from table into the skillet for frying food", + "Place the square-shaped bread into the dark gray skillet with the right arm.", + "Use the right arm to grab the bread loaf with bumpy surface for the metal skillet with comfortable grip", + "Use the right arm to lift the bread with rough texture and place it into the flat-bottom skillet.", + "Pick the soft bread off the table and place it in the medium-sized frying skillet.", + "Move the bread loaf with uneven edges to the round skillet with handle using the right arm", + "Pick up the golden bread loaf and put it in the black-surfaced skillet with gray sides", + "Grab the hand-sized bread block and drop it into the flat-bottom skillet", + "Use the right arm to move the bread loaf with bumpy surface and set it into the smooth non-stick skillet.", + "Pick the square-shaped bread up using the right arm and drop it in the round skillet with handle.", + "Grab the light golden brown bread from the table and set it in the gray skillet for stovetop cooking.", + "Put the cuboid bread into the skillet for frying food after grabbing it", + "Pick the bread with rough texture and set it into the gray skillet for stovetop cooking.", + "Move the bread loaf with uneven edges into the dark gray skillet from the table", + "Grab the golden bread and place it inside the dark gray skillet", + "Pick up the soft bread with the right arm and drop it in the metal skillet", + "Take the bread with rough texture with the right arm and drop into the gray skillet for stovetop cooking", + "Place the square-shaped bread into the round skillet with open handle end using the right arm", + "Take the bread block with light patches and place it inside the round skillet with handle", + "Use the right arm to pick the cuboid bread and put it in the metal skillet with comfortable grip", + "Put the bread loaf with uneven edges into the smooth non-stick skillet.", + "Use the right arm to pick the bread loaf with bumpy surface for the flat-bottom skillet", + "Use the right arm to pick the light golden brown bread and place it into the skillet for frying food.", + "Use the right arm to grab the bread block with light patches for the skillet for frying food", + "Use the right arm to place the soft bread into the black-surfaced skillet with gray sides", + "Take the square-shaped bread and put it in the smooth non-stick skillet.", + "Grab the bread loaf with bumpy surface using the right arm and place it in the skillet with black cooking surface", + "Take the soft bread off the table into the black-surfaced skillet with gray sides", + "Use the right arm to stick the doughy and soft bread into the round skillet with handle.", + "Transfer the bread with rough texture into the metal skillet from the table", + "Use the right arm to move the cuboid bread into the metal skillet", + "Lift the bread block with light patches and drop it into the dark gray skillet", + "Place the cuboid bread from the table into the medium-sized frying skillet", + "Take the cuboid bread and drop it into the flat-bottom skillet.", + "Lift the bread loaf with bumpy surface and drop it into the metal skillet.", + "Take the bread loaf with uneven edges and set it into the flat-bottom skillet", + "Use the right arm to pick the bread block with light patches up for the round skillet with handle", + "Pick the cuboid bread with the right arm and set it in the medium-sized frying skillet", + "Lift the bread loaf with uneven edges using the right arm and move it to the metal skillet", + "Grab the bread loaf with bumpy surface and stick it in the round skillet with open handle end.", + "Pick up the hand-sized bread block and place it in the smooth non-stick skillet.", + "Use the right arm to grab the bread loaf with uneven edges and set it in the metal skillet.", + "Set the hand-sized bread block into the round skillet with handle after grabbing", + "Grab the hand-sized bread block and place it inside the metal skillet with comfortable grip.", + "Pick the bread with rough texture and transfer it to the medium-sized frying skillet", + "Take the hand-sized bread block and put it in the skillet with black cooking surface." + ], + "unseen": [ + "Use the right arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Use the right arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode6.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..acd216362fbec7a23dc6a6219e4735ab809a03dc --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the small golden brown bread into the skillet for frying food after grabbing", + "Take the light brown loaf with smooth sides and put it in the skillet for frying food.", + "Grab the golden bread loaf from the table and set it in the metal skillet with comfortable grip.", + "Use the left arm to pick the soft brown bread and place it into the medium-sized frying skillet.", + "Place the bread with warm golden color into the round skillet with handle with the left arm.", + "Grab the bread with split top and place it inside the black-surfaced skillet with gray sides.", + "Pick the bread with split top with the left arm and set it in the skillet with black cooking surface", + "Use the left arm to grab the smooth loaf with rounded edges for the flat-bottom skillet", + "Use the left arm to place the small golden brown bread into the metal skillet", + "Use the left arm to move the brown loaf into the metal skillet", + "Use the left arm to pick the light brown bread with ridges up for the metal skillet", + "Take the hand-sized oval loaf with the left arm and drop into the metal skillet with comfortable grip", + "Pick up the light brown loaf with smooth sides with the left arm and drop it in the skillet with black cooking surface", + "Use the left arm to stick the hand-sized oval loaf into the skillet with black cooking surface.", + "Grab the light brown bread with ridges and place it inside the round skillet with handle", + "Use the left arm to set the soft brown bread into the metal skillet.", + "Move the bread with split top to the metal skillet with comfortable grip using the left arm", + "Take the golden bread loaf and place it inside the medium-sized frying skillet", + "Use the left arm to move the golden bread loaf and set it into the round skillet with handle.", + "Grab the bread with golden-brown crust using the left arm and place it in the skillet for frying food", + "Take the bread with split top off the table into the round skillet with open handle end", + "Transfer the bread with golden-brown crust into the metal skillet with comfortable grip from the table", + "Take the bread with warm golden color and set it into the medium-sized frying skillet", + "Use the left arm to grab the light brown loaf with smooth sides and set it in the medium-sized frying skillet.", + "Pick the light brown bread with ridges up using the left arm and drop it in the medium-sized frying skillet.", + "Use the left arm to pick the bread with warm golden color and put it in the smooth non-stick skillet", + "Place the bread with split top from the table into the smooth non-stick skillet", + "Move the bread with warm golden color from table into the round skillet with open handle end", + "Put the brown loaf into the skillet with black cooking surface.", + "Use the left arm to pick the light brown bread with ridges for the skillet for frying food", + "Grab the soft brown bread and drop it into the black-surfaced skillet with gray sides", + "Use the left arm to grab the smooth loaf with rounded edges for the round skillet with handle", + "Take the bread with golden-brown crust and drop it into the medium-sized frying skillet.", + "Lift the bread with warm golden color and drop it into the round skillet with open handle end.", + "Place the brown loaf into the round skillet with open handle end using the left arm", + "Grab the light brown loaf with smooth sides with the left arm and place in the skillet with black cooking surface", + "Move the soft brown bread into the round skillet with open handle end from the table", + "Grab the brown loaf and stick it in the medium-sized frying skillet.", + "Pick up the brown loaf and put it in the metal skillet", + "Use the left arm to lift the light brown loaf with smooth sides and place it into the round skillet with handle.", + "Pick the brown loaf and set it into the dark gray skillet.", + "Take the hand-sized oval loaf and place it inside the round skillet with handle", + "Pick the light brown loaf with smooth sides and transfer it to the medium-sized frying skillet", + "Lift the bread with split top and drop it into the skillet for frying food", + "Pick up the bread with split top and place it in the dark gray skillet.", + "Lift the small golden brown bread using the left arm and move it to the medium-sized frying skillet", + "Pick the small golden brown bread off the table and place it in the round skillet with open handle end.", + "Take the small loaf with curved top and put it in the metal skillet with comfortable grip.", + "Use the left arm to take the bread with split top and move it into the flat-bottom skillet.", + "Put the light brown loaf with smooth sides into the flat-bottom skillet after grabbing it", + "Set the bread with split top into the flat-bottom skillet after grabbing", + "Take the brown loaf and put it in the skillet with black cooking surface.", + "Grab the hand-sized oval loaf from the table and set it in the skillet for frying food.", + "Use the left arm to pick the small loaf with curved top and place it into the flat-bottom skillet.", + "Place the hand-sized oval loaf into the metal skillet with comfortable grip with the left arm.", + "Grab the bread with golden-brown crust and place it inside the round skillet with handle.", + "Pick the small loaf with curved top with the left arm and set it in the round skillet with open handle end", + "Use the left arm to grab the smooth loaf with rounded edges for the round skillet with open handle end", + "Use the left arm to place the bread with split top into the flat-bottom skillet", + "Use the left arm to move the bread with warm golden color into the round skillet with open handle end", + "Use the left arm to pick the small golden brown bread up for the dark gray skillet", + "Take the soft brown bread with the left arm and drop into the smooth non-stick skillet", + "Pick up the bread with warm golden color with the left arm and drop it in the medium-sized frying skillet", + "Use the left arm to stick the soft brown bread into the gray skillet for stovetop cooking.", + "Grab the golden bread loaf and place it inside the dark gray skillet", + "Use the left arm to set the bread with golden-brown crust into the smooth non-stick skillet.", + "Move the small golden brown bread to the round skillet with open handle end using the left arm", + "Take the small golden brown bread and place it inside the medium-sized frying skillet", + "Use the left arm to move the bread with golden-brown crust and set it into the metal skillet.", + "Grab the small golden brown bread using the left arm and place it in the smooth non-stick skillet", + "Take the brown loaf off the table into the dark gray skillet", + "Transfer the brown loaf into the metal skillet with comfortable grip from the table", + "Take the small golden brown bread and set it into the skillet with black cooking surface", + "Use the left arm to grab the bread with golden-brown crust and set it in the metal skillet.", + "Pick the smooth loaf with rounded edges up using the left arm and drop it in the round skillet with handle.", + "Use the left arm to pick the brown loaf and put it in the skillet for frying food", + "Place the bread with warm golden color from the table into the black-surfaced skillet with gray sides", + "Move the light brown bread with ridges from table into the flat-bottom skillet", + "Put the bread with warm golden color into the black-surfaced skillet with gray sides.", + "Use the left arm to pick the bread with warm golden color for the metal skillet", + "Grab the smooth loaf with rounded edges and drop it into the round skillet with handle", + "Use the left arm to grab the soft brown bread for the gray skillet for stovetop cooking", + "Take the bread with warm golden color and drop it into the gray skillet for stovetop cooking.", + "Lift the smooth loaf with rounded edges and drop it into the dark gray skillet.", + "Place the golden bread loaf into the gray skillet for stovetop cooking using the left arm", + "Grab the golden bread loaf with the left arm and place in the metal skillet", + "Move the soft brown bread into the skillet with black cooking surface from the table", + "Grab the light brown loaf with smooth sides and stick it in the skillet for frying food.", + "Pick up the brown loaf and put it in the metal skillet", + "Use the left arm to lift the bread with golden-brown crust and place it into the medium-sized frying skillet.", + "Pick the golden bread loaf and set it into the skillet for frying food.", + "Take the hand-sized oval loaf and place it inside the skillet with black cooking surface", + "Pick the bread with warm golden color and transfer it to the gray skillet for stovetop cooking", + "Lift the smooth loaf with rounded edges and drop it into the black-surfaced skillet with gray sides", + "Pick up the small golden brown bread and place it in the skillet for frying food.", + "Lift the bread with warm golden color using the left arm and move it to the medium-sized frying skillet", + "Pick the light brown loaf with smooth sides off the table and place it in the dark gray skillet.", + "Take the light brown bread with ridges and put it in the dark gray skillet.", + "Use the left arm to take the bread with warm golden color and move it into the round skillet with open handle end.", + "Put the smooth loaf with rounded edges into the dark gray skillet after grabbing it" + ], + "unseen": [ + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Move the rounded oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the left arm.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the oval bread to the dark skillet with shiny finish.", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Take the oval-shaped soft bread and put it in the dark skillet with shiny finish", + "Use the left arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Move the oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Move the oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Use the left arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode7.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..63efcccb64363cbbdc56df83773363534ecd6622 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the bread with golden crust to the black skillet with smooth base using the left arm", + "Use the left arm to pick the smooth crusty small bread and put it in the smooth round pan made of iron", + "Put the soft golden bread into the smooth round pan made of iron after grabbing it", + "Pick the soft doughy bread and transfer it to the round pan with hole in handle", + "Use the left arm to grab the soft golden bread for the solid dark-colored round pan", + "Place the braided bread loaf into the dark pan with sturdy grip using the left arm", + "Use the left arm to stick the golden brown bread into the versatile skillet for stovetop cooking.", + "Pick the golden brown bread and set it into the flat-bottomed skillet with long handle.", + "Move the round bread with braided top into the solid dark-colored round pan from the table", + "Grab the braided bread loaf using the left arm and place it in the dark pan with sturdy grip", + "Grab the soft doughy bread from the table and set it in the black skillet with smooth base.", + "Use the left arm to pick the smooth crusty small bread for the medium black pan with handle", + "Use the left arm to move the round bread with braided top and set it into the versatile skillet for stovetop cooking.", + "Use the left arm to pick the round bread with braided top and place it into the medium black pan with handle.", + "Lift the golden bread loaf with soft inside and drop it into the heavy black cooking skillet", + "Take the golden bread loaf with soft inside with the left arm and drop into the black pan with curved edges", + "Take the small bread and place it inside the round cooking pan", + "Take the soft golden bread and put it in the medium black pan with handle.", + "Take the small bread and drop it into the skillet with extended grip handle.", + "Pick up the bread with golden crust and place it in the versatile skillet for stovetop cooking.", + "Transfer the soft golden bread into the medium black pan with handle from the table", + "Use the left arm to move the golden brown bread with braided design into the round cooking pan", + "Use the left arm to set the small bread into the versatile skillet for stovetop cooking.", + "Put the golden brown bread into the skillet with extended grip handle.", + "Take the golden bread loaf with soft inside and place it inside the skillet with extended grip handle", + "Grab the round bread with crusty texture and drop it into the versatile skillet for stovetop cooking", + "Take the golden brown bread and put it in the round pan with hole in handle.", + "Use the left arm to grab the braided bread loaf and set it in the smooth round pan made of iron.", + "Set the soft doughy bread into the solid dark-colored round pan after grabbing", + "Move the golden brown bread from table into the heavy black cooking skillet", + "Grab the golden brown bread with braided design and stick it in the skillet with extended grip handle.", + "Use the left arm to pick the golden bread loaf with soft inside up for the heavy black cooking skillet", + "Grab the soft doughy bread and place it inside the black skillet with smooth base", + "Use the left arm to grab the braided bread loaf for the flat-bottomed skillet with long handle", + "Pick up the bread with golden crust with the left arm and drop it in the smooth round pan made of iron", + "Place the round bread with crusty texture from the table into the smooth round pan made of iron", + "Pick the golden brown bread off the table and place it in the smooth round pan made of iron.", + "Pick the round bread with braided top with the left arm and set it in the versatile skillet for stovetop cooking", + "Grab the small bread and place it inside the round pan with hole in handle.", + "Lift the braided bread loaf using the left arm and move it to the skillet with extended grip handle", + "Grab the smooth crusty small bread with the left arm and place in the black pan with curved edges", + "Lift the round bread with crusty texture and drop it into the round cooking pan.", + "Pick the smooth crusty small bread up using the left arm and drop it in the round cooking pan.", + "Use the left arm to lift the soft golden bread and place it into the black skillet with smooth base.", + "Take the golden brown bread off the table into the round pan with hole in handle", + "Use the left arm to place the small bread into the solid dark-colored round pan", + "Pick up the small golden baked bread and put it in the round cooking pan", + "Use the left arm to take the small bread and move it into the medium black pan with handle.", + "Place the golden brown bread with braided design into the heavy black cooking skillet with the left arm.", + "Take the golden bread loaf with soft inside and set it into the round cooking pan", + "Move the smooth crusty small bread to the flat-bottomed skillet with long handle using the left arm", + "Use the left arm to pick the round bread with crusty texture and put it in the flat-bottomed skillet with long handle", + "Put the small bread into the medium black pan with handle after grabbing it", + "Pick the soft doughy bread and transfer it to the medium black pan with handle", + "Use the left arm to grab the soft golden bread for the flat-bottomed skillet with long handle", + "Place the soft doughy bread into the medium black pan with handle using the left arm", + "Use the left arm to stick the round bread with braided top into the flat-bottomed skillet with long handle.", + "Pick the round bread with crusty texture and set it into the smooth round pan made of iron.", + "Move the smooth crusty small bread into the medium black pan with handle from the table", + "Grab the golden bread loaf with soft inside using the left arm and place it in the flat-bottomed skillet with long handle", + "Grab the round bread with crusty texture from the table and set it in the smooth round pan made of iron.", + "Use the left arm to pick the soft golden bread for the dark pan with sturdy grip", + "Use the left arm to move the bread with golden crust and set it into the smooth round pan made of iron.", + "Use the left arm to pick the bread with golden crust and place it into the black skillet with smooth base.", + "Lift the soft doughy bread and drop it into the smooth round pan made of iron", + "Take the round bread with braided top with the left arm and drop into the skillet with extended grip handle", + "Take the golden bread loaf with soft inside and place it inside the medium black pan with handle", + "Take the round bread with crusty texture and put it in the heavy black cooking skillet.", + "Take the golden bread loaf with soft inside and drop it into the round pan with hole in handle.", + "Pick up the bread with golden crust and place it in the black skillet with smooth base.", + "Transfer the soft doughy bread into the solid dark-colored round pan from the table", + "Use the left arm to move the bread with golden crust into the black pan with curved edges", + "Use the left arm to set the braided bread loaf into the round pan with hole in handle.", + "Put the round bread with crusty texture into the solid dark-colored round pan.", + "Take the round bread with crusty texture and place it inside the smooth round pan made of iron", + "Grab the round bread with crusty texture and drop it into the round pan with hole in handle", + "Take the golden brown bread and put it in the round cooking pan.", + "Use the left arm to grab the small golden baked bread and set it in the flat-bottomed skillet with long handle.", + "Set the golden brown bread into the round pan with hole in handle after grabbing", + "Move the round bread with braided top from table into the medium black pan with handle", + "Grab the golden brown bread and stick it in the smooth round pan made of iron.", + "Use the left arm to pick the small golden baked bread up for the medium black pan with handle", + "Grab the soft doughy bread and place it inside the round cooking pan", + "Use the left arm to grab the round bread with crusty texture for the medium black pan with handle", + "Pick up the braided bread loaf with the left arm and drop it in the round pan with hole in handle", + "Place the braided bread loaf from the table into the versatile skillet for stovetop cooking", + "Pick the braided bread loaf off the table and place it in the skillet with extended grip handle.", + "Pick the round bread with crusty texture with the left arm and set it in the dark pan with sturdy grip", + "Grab the braided bread loaf and place it inside the flat-bottomed skillet with long handle.", + "Lift the smooth crusty small bread using the left arm and move it to the heavy black cooking skillet", + "Grab the round bread with braided top with the left arm and place in the skillet with extended grip handle", + "Lift the soft golden bread and drop it into the flat-bottomed skillet with long handle.", + "Pick the braided bread loaf up using the left arm and drop it in the round pan with hole in handle.", + "Use the left arm to lift the braided bread loaf and place it into the skillet with extended grip handle.", + "Take the golden bread loaf with soft inside off the table into the black pan with curved edges", + "Use the left arm to place the golden brown bread with braided design into the versatile skillet for stovetop cooking", + "Pick up the small bread and put it in the versatile skillet for stovetop cooking", + "Use the left arm to take the round bread with crusty texture and move it into the heavy black cooking skillet.", + "Place the round bread with crusty texture into the skillet with extended grip handle with the left arm.", + "Take the soft doughy bread and set it into the black pan with curved edges" + ], + "unseen": [ + "Use the left arm to move the round braided loaf to the black skillet.", + "Grab the braided top round bread and place it into the round cast-iron skillet.", + "Take the palm-sized braided golden bread and put it in the iron skillet for frying foods", + "Pick the palm-sized braided golden bread up and place it in the black skillet", + "Pick up the braided top round bread and drop it into the iron skillet for frying foods", + "Grab the braided top round bread and place it in the black skillet", + "Use the left arm to grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Move the round braided loaf to the iron skillet for frying foods using the left arm.", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Use the left arm to move the palm-sized braided golden bread to the round cast-iron skillet.", + "Grab the round braided loaf and place it into the black skillet.", + "Take the braided top round bread and put it in the round cast-iron skillet", + "Pick the palm-sized braided golden bread up and place it in the black skillet", + "Pick up the braided top round bread and drop it into the iron skillet for frying foods", + "Grab the braided top round bread and place it in the black skillet", + "Use the left arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Grab the round braided loaf and set it in the round cast-iron skillet", + "Move the braided top round bread to the black skillet using the left arm.", + "Grab the palm-sized braided golden bread and drop it into the black skillet.", + "Use the left arm to move the round braided loaf to the black skillet.", + "Grab the round braided loaf and place it into the black skillet.", + "Take the round braided loaf and put it in the black skillet", + "Pick the braided top round bread up and place it in the round cast-iron skillet", + "Pick up the round braided loaf and drop it into the round cast-iron skillet", + "Grab the braided top round bread and place it in the black skillet", + "Use the left arm to grab the round braided loaf and set it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Move the round braided loaf to the round cast-iron skillet using the left arm.", + "Grab the braided top round bread and drop it into the iron skillet for frying foods.", + "Use the left arm to move the palm-sized braided golden bread to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and place it into the round cast-iron skillet.", + "Take the braided top round bread and put it in the iron skillet for frying foods", + "Pick the palm-sized braided golden bread up and place it in the black skillet", + "Pick up the palm-sized braided golden bread and drop it into the iron skillet for frying foods", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Use the left arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Move the palm-sized braided golden bread to the iron skillet for frying foods using the left arm.", + "Grab the braided top round bread and drop it into the round cast-iron skillet.", + "Use the left arm to move the braided top round bread to the black skillet.", + "Grab the braided top round bread and place it into the round cast-iron skillet.", + "Take the round braided loaf and put it in the round cast-iron skillet", + "Pick the palm-sized braided golden bread up and place it in the iron skillet for frying foods", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Grab the braided top round bread and place it in the round cast-iron skillet", + "Use the left arm to grab the braided top round bread and set it in the black skillet", + "Grab the round braided loaf and set it in the black skillet", + "Move the braided top round bread to the black skillet using the left arm.", + "Grab the palm-sized braided golden bread and drop it into the iron skillet for frying foods.", + "Use the left arm to move the braided top round bread to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and place it into the black skillet.", + "Take the braided top round bread and put it in the iron skillet for frying foods", + "Pick the braided top round bread up and place it in the iron skillet for frying foods", + "Pick up the palm-sized braided golden bread and drop it into the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and place it in the round cast-iron skillet", + "Use the left arm to grab the braided top round bread and set it in the round cast-iron skillet", + "Grab the round braided loaf and set it in the black skillet", + "Move the braided top round bread to the round cast-iron skillet using the left arm.", + "Grab the braided top round bread and drop it into the iron skillet for frying foods.", + "Use the left arm to move the braided top round bread to the round cast-iron skillet.", + "Grab the braided top round bread and place it into the iron skillet for frying foods.", + "Take the braided top round bread and put it in the round cast-iron skillet", + "Pick the braided top round bread up and place it in the round cast-iron skillet", + "Pick up the palm-sized braided golden bread and drop it into the black skillet", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Use the left arm to grab the palm-sized braided golden bread and set it in the black skillet", + "Grab the braided top round bread and set it in the black skillet", + "Move the palm-sized braided golden bread to the black skillet using the left arm.", + "Grab the round braided loaf and drop it into the black skillet.", + "Use the left arm to move the braided top round bread to the black skillet.", + "Grab the braided top round bread and place it into the black skillet.", + "Take the braided top round bread and put it in the iron skillet for frying foods", + "Pick the palm-sized braided golden bread up and place it in the black skillet", + "Pick up the palm-sized braided golden bread and drop it into the iron skillet for frying foods", + "Grab the braided top round bread and place it in the round cast-iron skillet", + "Use the left arm to grab the braided top round bread and set it in the iron skillet for frying foods", + "Grab the round braided loaf and set it in the black skillet", + "Move the braided top round bread to the black skillet using the left arm.", + "Grab the braided top round bread and drop it into the round cast-iron skillet.", + "Use the left arm to move the braided top round bread to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and place it into the iron skillet for frying foods.", + "Take the palm-sized braided golden bread and put it in the iron skillet for frying foods", + "Pick the round braided loaf up and place it in the round cast-iron skillet", + "Pick up the round braided loaf and drop it into the black skillet", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Use the left arm to grab the braided top round bread and set it in the black skillet", + "Grab the palm-sized braided golden bread and set it in the black skillet", + "Move the round braided loaf to the black skillet using the left arm.", + "Grab the palm-sized braided golden bread and drop it into the iron skillet for frying foods.", + "Use the left arm to move the braided top round bread to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and place it into the round cast-iron skillet.", + "Take the braided top round bread and put it in the black skillet", + "Pick the palm-sized braided golden bread up and place it in the iron skillet for frying foods", + "Pick up the round braided loaf and drop it into the iron skillet for frying foods", + "Grab the braided top round bread and place it in the iron skillet for frying foods", + "Use the left arm to grab the braided top round bread and set it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Move the palm-sized braided golden bread to the black skillet using the left arm.", + "Grab the round braided loaf and drop it into the iron skillet for frying foods." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode8.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..af4e53c1ae10555835394f80bb5a078faeee46ae --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the soft square bread and place it inside the flat-bottom skillet", + "Pick the light brown porous bread and transfer it to the metal skillet", + "Place the light brown porous bread into the skillet with black cooking surface with the right arm.", + "Use the right arm to grab the bread with soft texture for the skillet with black cooking surface", + "Lift the bread with soft texture using the right arm and move it to the flat-bottom skillet", + "Pick the sponge-textured golden bread off the table and place it in the medium-sized frying skillet.", + "Transfer the light brown porous bread into the metal skillet from the table", + "Take the bread with rounded edges and place it inside the dark gray skillet", + "Take the square-shaped bread piece and put it in the metal skillet with comfortable grip.", + "Use the right arm to move the bread with rounded edges and set it into the smooth non-stick skillet.", + "Move the bread with soft texture to the round skillet with handle using the right arm", + "Move the medium-sized bread piece into the skillet with black cooking surface from the table", + "Grab the medium-sized bread piece using the right arm and place it in the flat-bottom skillet", + "Grab the square-shaped bread piece from the table and set it in the black-surfaced skillet with gray sides.", + "Lift the fluffy baked bread and drop it into the medium-sized frying skillet.", + "Use the right arm to grab the golden baked bread and set it in the round skillet with open handle end.", + "Pick up the bread with rounded edges and place it in the round skillet with handle.", + "Place the soft square bread into the flat-bottom skillet using the right arm", + "Take the soft square bread off the table into the skillet with black cooking surface", + "Use the right arm to place the bread with rounded edges into the round skillet with open handle end", + "Lift the medium bread with rounded sides and drop it into the skillet with black cooking surface", + "Use the right arm to set the fluffy baked bread into the metal skillet.", + "Use the right arm to grab the light brown porous bread for the round skillet with open handle end", + "Set the soft square bread into the skillet with black cooking surface after grabbing", + "Use the right arm to pick the sponge-textured golden bread and put it in the round skillet with open handle end", + "Pick up the medium-sized bread piece and put it in the dark gray skillet", + "Use the right arm to pick the light brown porous bread for the round skillet with handle", + "Grab the golden brown bread and stick it in the metal skillet with comfortable grip.", + "Grab the soft square bread with the right arm and place in the metal skillet", + "Place the golden brown bread from the table into the round skillet with handle", + "Use the right arm to pick the medium-sized bread piece and place it into the skillet for frying food.", + "Grab the fluffy baked bread and place it inside the smooth non-stick skillet.", + "Put the medium-sized bread piece into the medium-sized frying skillet.", + "Grab the bread with rounded edges and drop it into the flat-bottom skillet", + "Take the soft square bread and set it into the skillet with black cooking surface", + "Use the right arm to take the sponge-textured golden bread and move it into the dark gray skillet.", + "Take the bread with soft texture and put it in the metal skillet with comfortable grip.", + "Use the right arm to pick the square-shaped bread piece up for the dark gray skillet", + "Use the right arm to move the fluffy baked bread into the black-surfaced skillet with gray sides", + "Move the golden baked bread from table into the skillet with black cooking surface", + "Pick up the golden brown bread with the right arm and drop it in the black-surfaced skillet with gray sides", + "Pick the medium bread with rounded sides up using the right arm and drop it in the skillet with black cooking surface.", + "Pick the rounded square loaf with the right arm and set it in the metal skillet with comfortable grip", + "Put the medium-sized bread piece into the medium-sized frying skillet after grabbing it", + "Grab the golden baked bread and place it inside the skillet with black cooking surface", + "Pick the medium-sized bread piece and set it into the flat-bottom skillet.", + "Use the right arm to stick the light brown porous bread into the dark gray skillet.", + "Use the right arm to lift the bread with soft texture and place it into the metal skillet with comfortable grip.", + "Take the bread with rounded edges and drop it into the dark gray skillet.", + "Take the rounded square loaf with the right arm and drop into the smooth non-stick skillet", + "Take the fluffy baked bread and place it inside the medium-sized frying skillet", + "Pick the square-shaped bread piece and transfer it to the skillet for frying food", + "Place the bread with soft texture into the gray skillet for stovetop cooking with the right arm.", + "Use the right arm to grab the golden baked bread for the round skillet with handle", + "Lift the light brown porous bread using the right arm and move it to the skillet for frying food", + "Pick the fluffy baked bread off the table and place it in the smooth non-stick skillet.", + "Transfer the soft square bread into the dark gray skillet from the table", + "Take the bread with soft texture and place it inside the round skillet with open handle end", + "Take the sponge-textured golden bread and put it in the medium-sized frying skillet.", + "Use the right arm to move the bread with soft texture and set it into the black-surfaced skillet with gray sides.", + "Move the square-shaped bread piece to the round skillet with handle using the right arm", + "Move the square-shaped bread piece into the round skillet with open handle end from the table", + "Grab the light brown porous bread using the right arm and place it in the black-surfaced skillet with gray sides", + "Grab the medium bread with rounded sides from the table and set it in the dark gray skillet.", + "Lift the golden baked bread and drop it into the gray skillet for stovetop cooking.", + "Use the right arm to grab the sponge-textured golden bread and set it in the smooth non-stick skillet.", + "Pick up the square-shaped bread piece and place it in the metal skillet with comfortable grip.", + "Place the bread with rounded edges into the round skillet with open handle end using the right arm", + "Take the soft square bread off the table into the smooth non-stick skillet", + "Use the right arm to place the medium bread with rounded sides into the medium-sized frying skillet", + "Lift the sponge-textured golden bread and drop it into the black-surfaced skillet with gray sides", + "Use the right arm to set the soft square bread into the flat-bottom skillet.", + "Use the right arm to grab the medium-sized bread piece for the metal skillet", + "Set the fluffy baked bread into the round skillet with open handle end after grabbing", + "Use the right arm to pick the fluffy baked bread and put it in the skillet for frying food", + "Pick up the light brown porous bread and put it in the flat-bottom skillet", + "Use the right arm to pick the bread with soft texture for the black-surfaced skillet with gray sides", + "Grab the square-shaped bread piece and stick it in the medium-sized frying skillet.", + "Grab the square-shaped bread piece with the right arm and place in the skillet with black cooking surface", + "Place the light brown porous bread from the table into the round skillet with handle", + "Use the right arm to pick the fluffy baked bread and place it into the metal skillet with comfortable grip.", + "Grab the square-shaped bread piece and place it inside the skillet for frying food.", + "Put the bread with rounded edges into the black-surfaced skillet with gray sides.", + "Grab the golden brown bread and drop it into the medium-sized frying skillet", + "Take the medium-sized bread piece and set it into the skillet with black cooking surface", + "Use the right arm to take the sponge-textured golden bread and move it into the dark gray skillet.", + "Take the light brown porous bread and put it in the skillet for frying food.", + "Use the right arm to pick the sponge-textured golden bread up for the gray skillet for stovetop cooking", + "Use the right arm to move the bread with rounded edges into the metal skillet with comfortable grip", + "Move the square-shaped bread piece from table into the dark gray skillet", + "Pick up the light brown porous bread with the right arm and drop it in the gray skillet for stovetop cooking", + "Pick the medium bread with rounded sides up using the right arm and drop it in the flat-bottom skillet.", + "Pick the bread with soft texture with the right arm and set it in the black-surfaced skillet with gray sides", + "Put the bread with soft texture into the skillet with black cooking surface after grabbing it", + "Grab the sponge-textured golden bread and place it inside the smooth non-stick skillet", + "Pick the golden baked bread and set it into the skillet with black cooking surface.", + "Use the right arm to stick the bread with rounded edges into the black-surfaced skillet with gray sides.", + "Use the right arm to lift the golden brown bread and place it into the round skillet with handle.", + "Take the medium bread with rounded sides and drop it into the metal skillet with comfortable grip.", + "Take the medium-sized bread piece with the right arm and drop into the medium-sized frying skillet" + ], + "unseen": [ + "Grab the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Use the right arm to grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the soft bread with golden edges to the dark skillet with shiny finish.", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Pick the square bread with light spots up and place it in the dark skillet with shiny finish", + "Pick up the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Use the right arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the right arm.", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Take the spongy golden brown bread and put it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Move the spongy golden brown bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Pick the square bread with light spots up and place it in the dark skillet with shiny finish", + "Pick up the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Use the right arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it in the pan-shaped skillet with hole in handle", + "Move the square bread with light spots to the dark skillet with shiny finish using the right arm.", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Use the right arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Pick the soft bread with golden edges up and place it in the versatile skillet for frying and sauteing", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and place it into the versatile skillet for frying and sauteing.", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Move the spongy golden brown bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Pick the square bread with light spots up and place it in the dark skillet with shiny finish", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Use the right arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it in the versatile skillet for frying and sauteing", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode9.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..cae6b971c5aef9e66a5b7494cf255da6b67725b1 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to stick the bread loaf with bumpy surface into the round cooking pan.", + "Use the right arm to lift the soft bread and place it into the versatile skillet for stovetop cooking.", + "Pick up the golden bread with the right arm and drop it in the heavy black cooking skillet", + "Grab the bread loaf with bumpy surface and place it inside the round pan with hole in handle", + "Use the right arm to take the soft bread and move it into the round pan with hole in handle.", + "Use the right arm to pick the bread loaf with uneven edges up for the round pan with hole in handle", + "Use the right arm to set the square-shaped bread into the dark pan with sturdy grip.", + "Pick the cuboid bread and set it into the smooth round pan made of iron.", + "Take the bread with rough texture off the table into the skillet with extended grip handle", + "Put the bread with rough texture into the heavy black cooking skillet.", + "Transfer the soft bread into the skillet with extended grip handle from the table", + "Lift the soft bread and drop it into the heavy black cooking skillet", + "Use the right arm to move the bread block with light patches and set it into the black skillet with smooth base.", + "Pick up the bread loaf with uneven edges and place it in the flat-bottomed skillet with long handle.", + "Take the cuboid bread and place it inside the versatile skillet for stovetop cooking", + "Grab the square-shaped bread and place it inside the black pan with curved edges.", + "Use the right arm to pick the bread with rough texture for the flat-bottomed skillet with long handle", + "Put the cuboid bread into the round pan with hole in handle after grabbing it", + "Use the right arm to grab the soft bread for the heavy black cooking skillet", + "Use the right arm to pick the bread block with light patches and place it into the round pan with hole in handle.", + "Pick the bread loaf with uneven edges up using the right arm and drop it in the black skillet with smooth base.", + "Grab the cuboid bread from the table and set it in the black pan with curved edges.", + "Pick the bread with rough texture and transfer it to the medium black pan with handle", + "Take the bread with rough texture and put it in the round pan with hole in handle.", + "Move the bread block with light patches into the smooth round pan made of iron from the table", + "Lift the square-shaped bread and drop it into the heavy black cooking skillet.", + "Pick the hand-sized bread block with the right arm and set it in the black pan with curved edges", + "Take the bread with rough texture with the right arm and drop into the black skillet with smooth base", + "Lift the bread block with light patches using the right arm and move it to the round cooking pan", + "Take the doughy and soft bread and set it into the smooth round pan made of iron", + "Grab the light golden brown bread with the right arm and place in the versatile skillet for stovetop cooking", + "Pick the light golden brown bread off the table and place it in the skillet with extended grip handle.", + "Move the golden bread loaf to the round pan with hole in handle using the right arm", + "Grab the bread loaf with bumpy surface and stick it in the smooth round pan made of iron.", + "Take the bread loaf with uneven edges and place it inside the flat-bottomed skillet with long handle", + "Use the right arm to place the hand-sized bread block into the solid dark-colored round pan", + "Set the golden bread loaf into the smooth round pan made of iron after grabbing", + "Grab the square-shaped bread and drop it into the versatile skillet for stovetop cooking", + "Use the right arm to grab the hand-sized bread block and set it in the black pan with curved edges.", + "Move the doughy and soft bread from table into the skillet with extended grip handle", + "Use the right arm to move the hand-sized bread block into the black skillet with smooth base", + "Place the bread block with light patches from the table into the round pan with hole in handle", + "Use the right arm to grab the doughy and soft bread for the solid dark-colored round pan", + "Take the bread loaf with uneven edges and drop it into the versatile skillet for stovetop cooking.", + "Use the right arm to pick the doughy and soft bread and put it in the heavy black cooking skillet", + "Take the cuboid bread and put it in the solid dark-colored round pan.", + "Grab the bread loaf with bumpy surface using the right arm and place it in the smooth round pan made of iron", + "Place the bread loaf with bumpy surface into the dark pan with sturdy grip with the right arm.", + "Place the soft bread into the smooth round pan made of iron using the right arm", + "Pick up the bread block with light patches and put it in the medium black pan with handle", + "Use the right arm to stick the bread block with light patches into the solid dark-colored round pan.", + "Use the right arm to lift the bread loaf with bumpy surface and place it into the solid dark-colored round pan.", + "Pick up the soft bread with the right arm and drop it in the medium black pan with handle", + "Grab the golden bread and place it inside the round cooking pan", + "Use the right arm to take the cuboid bread and move it into the heavy black cooking skillet.", + "Use the right arm to pick the golden bread loaf up for the black pan with curved edges", + "Use the right arm to set the doughy and soft bread into the round cooking pan.", + "Pick the bread loaf with uneven edges and set it into the flat-bottomed skillet with long handle.", + "Take the soft bread off the table into the solid dark-colored round pan", + "Put the square-shaped bread into the black pan with curved edges.", + "Transfer the hand-sized bread block into the round pan with hole in handle from the table", + "Lift the bread with rough texture and drop it into the solid dark-colored round pan", + "Use the right arm to move the doughy and soft bread and set it into the versatile skillet for stovetop cooking.", + "Pick up the golden bread loaf and place it in the black pan with curved edges.", + "Take the bread block with light patches and place it inside the dark pan with sturdy grip", + "Grab the bread loaf with uneven edges and place it inside the smooth round pan made of iron.", + "Use the right arm to pick the bread with rough texture for the heavy black cooking skillet", + "Put the hand-sized bread block into the skillet with extended grip handle after grabbing it", + "Use the right arm to grab the bread loaf with uneven edges for the heavy black cooking skillet", + "Use the right arm to pick the doughy and soft bread and place it into the round pan with hole in handle.", + "Pick the light golden brown bread up using the right arm and drop it in the dark pan with sturdy grip.", + "Grab the bread block with light patches from the table and set it in the black pan with curved edges.", + "Pick the bread loaf with uneven edges and transfer it to the dark pan with sturdy grip", + "Take the bread with rough texture and put it in the black skillet with smooth base.", + "Move the golden bread into the dark pan with sturdy grip from the table", + "Lift the bread block with light patches and drop it into the solid dark-colored round pan.", + "Pick the bread loaf with bumpy surface with the right arm and set it in the medium black pan with handle", + "Take the cuboid bread with the right arm and drop into the versatile skillet for stovetop cooking", + "Lift the cuboid bread using the right arm and move it to the versatile skillet for stovetop cooking", + "Take the golden bread and set it into the medium black pan with handle", + "Grab the bread loaf with bumpy surface with the right arm and place in the medium black pan with handle", + "Pick the hand-sized bread block off the table and place it in the round cooking pan.", + "Move the light golden brown bread to the heavy black cooking skillet using the right arm", + "Grab the bread loaf with bumpy surface and stick it in the solid dark-colored round pan.", + "Take the golden bread and place it inside the skillet with extended grip handle", + "Use the right arm to place the bread block with light patches into the smooth round pan made of iron", + "Set the soft bread into the solid dark-colored round pan after grabbing", + "Grab the bread loaf with uneven edges and drop it into the heavy black cooking skillet", + "Use the right arm to grab the golden bread loaf and set it in the flat-bottomed skillet with long handle.", + "Move the hand-sized bread block from table into the round cooking pan", + "Use the right arm to move the square-shaped bread into the heavy black cooking skillet", + "Place the cuboid bread from the table into the skillet with extended grip handle", + "Use the right arm to grab the cuboid bread for the flat-bottomed skillet with long handle", + "Take the square-shaped bread and drop it into the solid dark-colored round pan.", + "Use the right arm to pick the bread with rough texture and put it in the round cooking pan", + "Take the soft bread and put it in the medium black pan with handle.", + "Grab the soft bread using the right arm and place it in the versatile skillet for stovetop cooking", + "Place the light golden brown bread into the round cooking pan with the right arm.", + "Place the soft bread into the skillet with extended grip handle using the right arm", + "Pick up the golden bread and put it in the versatile skillet for stovetop cooking" + ], + "unseen": [ + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Take the bread with golden crust and put it in the round cast-iron skillet", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Use the right arm to move the bread with golden crust to the black skillet.", + "Pick the bread with golden crust up and place it in the round cast-iron skillet", + "Pick up the bread loaf with soft surface and drop it into the round cast-iron skillet", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Move the bread with golden crust to the round cast-iron skillet using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it into the round cast-iron skillet.", + "Take the bread loaf with soft surface and put it in the black skillet", + "Grab the bread with golden crust and place it in the black skillet", + "Grab the bread loaf with soft surface and drop it into the round cast-iron skillet.", + "Use the right arm to move the bread with golden crust to the round cast-iron skillet.", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Pick up the bread loaf with soft surface and drop it into the round cast-iron skillet", + "Grab the rectangular bread loaf and set it in the black skillet", + "Move the rectangular bread loaf to the round cast-iron skillet using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it in the black skillet", + "Grab the rectangular bread loaf and drop it into the black skillet.", + "Use the right arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Pick the bread loaf with soft surface up and place it in the black skillet", + "Pick up the bread with golden crust and drop it into the black skillet", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Move the bread with golden crust to the black skillet using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Take the rectangular bread loaf and put it in the black skillet", + "Grab the bread with golden crust and place it in the black skillet", + "Grab the bread with golden crust and drop it into the black skillet.", + "Use the right arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Pick the bread with golden crust up and place it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Move the bread with golden crust to the round cast-iron skillet using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the black skillet", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Take the rectangular bread loaf and put it in the black skillet", + "Grab the bread with golden crust and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Use the right arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Pick the bread loaf with soft surface up and place it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the black skillet", + "Move the bread with golden crust to the black skillet using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it in the black skillet", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Use the right arm to move the rectangular bread loaf to the black skillet.", + "Pick the bread with golden crust up and place it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Grab the bread with golden crust and set it in the black skillet", + "Move the rectangular bread loaf to the round cast-iron skillet using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Take the rectangular bread loaf and put it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it in the black skillet", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Use the right arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Move the bread with golden crust to the round cast-iron skillet using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it in the black skillet", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Use the right arm to move the rectangular bread loaf to the black skillet.", + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the round cast-iron skillet", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Move the bread loaf with soft surface to the black skillet using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the black skillet", + "Grab the bread with golden crust and place it into the round cast-iron skillet.", + "Take the bread with golden crust and put it in the black skillet", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Grab the rectangular bread loaf and drop it into the black skillet.", + "Use the right arm to move the bread with golden crust to the iron skillet for frying foods.", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the iron skillet for frying foods", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Move the bread with golden crust to the round cast-iron skillet using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and drop it into the round cast-iron skillet.", + "Use the right arm to move the bread with golden crust to the round cast-iron skillet.", + "Pick the bread with golden crust up and place it in the black skillet", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Grab the bread with golden crust and set it in the black skillet", + "Move the rectangular bread loaf to the black skillet using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/scene_info.json b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..6d2eec9746c02a83d224793922c75f8da3a9d0f6 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/aloha-agilex/meta/scene_info.json @@ -0,0 +1,654 @@ +{ + "episodes": [ + { + "episode_id": 0, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "106_skillet/base0", + "{B}": "075_bread/base3", + "{a}": "left" + } + }, + { + "episode_id": 1, + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": 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b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..f3fe0f185a1b74f4ab6322920c9cb51392f1fdb0 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/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/place_bread_skillet/franka-panda/meta/info.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..dee80b0bcebd8e6cf75d187aaea07beae61d855c --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/info.json @@ -0,0 +1,64 @@ +{ + "task": "place_bread_skillet", + "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/place_bread_skillet/franka-panda/meta/instructions/episode0.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..35651b8ca82ca3d472d4cef0d39df2a8ba581ad1 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the bread with golden surface color off the table into the smooth round cooking skillet", + "Grab the rectangular bread soft inside and place it inside the medium skillet", + "Use the right arm to stick the bread loaf with square shape into the rounded skillet with a holey handle.", + "Pick up the golden brown loaf-shaped bread and put it in the medium skillet", + "Pick the golden bread and set it into the smooth cast iron skillet.", + "Use the right arm to move the golden crusted bread slice and set it into the gray pan.", + "Place the bread loaf with square shape into the smooth cast iron skillet using the right arm", + "Use the right arm to pick the bread with firm crust edges up for the smooth cast iron skillet", + "Use the right arm to grab the bread with rounded corners and set it in the medium skillet.", + "Use the right arm to place the bread with rounded corners into the smooth round cooking skillet", + "Put the golden crusted bread slice into the pan with dark finish.", + "Move the brown bread loaf into the smooth round cooking skillet from the table", + "Use the right arm to grab the bread with firm crust edges for the hefty black skillet", + "Lift the bread loaf with square shape and drop it into the round skillet with handle.", + "Put the bread loaf with square shape into the gray pan after grabbing it", + "Grab the golden crusted bread slice from the table and set it in the skillet for cooking.", + "Take the rectangular bread soft inside with the right arm and drop into the rounded skillet with a holey handle", + "Use the right arm to lift the slice-shaped bread and place it into the medium round cast iron skillet.", + "Place the bread loaf with square shape into the skillet for cooking with the right arm.", + "Use the right arm to take the golden brown loaf-shaped bread and move it into the skillet for cooking.", + "Set the bread with firm crust edges into the pan with dark finish after grabbing", + "Move the bread with rounded corners from table into the rounded skillet with a holey handle", + "Grab the golden crusted bread slice and place it inside the rounded skillet with a holey handle.", + "Grab the rectangular bread soft inside with the right arm and place in the rounded skillet with a holey handle", + "Pick the brown bread loaf with the right arm and set it in the smooth round cooking skillet", + "Take the bread with rounded corners and place it inside the smooth round cooking skillet", + "Move the bread with rounded corners to the rounded skillet with a holey handle using the right arm", + "Place the brown bread loaf from the table into the medium skillet", + "Use the right arm to grab the golden crusted bread slice for the hefty black skillet", + "Take the slice-shaped bread and place it inside the medium round cast iron skillet", + "Pick the bread with firm crust edges up using the right arm and drop it in the gray cooking pan with handle.", + "Use the right arm to pick the bread with rounded corners and put it in the pan with dark finish", + "Take the soft golden baked bread and set it into the medium round cast iron skillet", + "Take the rectangular bread soft inside and put it in the smooth cast iron skillet.", + "Pick the rectangular bread soft inside and transfer it to the gray pan", + "Pick the golden crusted bread slice off the table and place it in the gray cooking pan with handle.", + "Use the right arm to pick the golden crusted bread slice for the smooth cast iron skillet", + "Use the right arm to move the soft golden baked bread into the medium round cast iron skillet", + "Grab the slice-shaped bread and stick it in the gray pan.", + "Lift the golden crusted bread slice using the right arm and move it to the gray pan", + "Transfer the soft golden baked bread into the gray pan from the table", + "Pick up the rectangular bread soft inside and place it in the rounded skillet with a holey handle.", + "Grab the brown bread loaf and drop it into the pan with dark finish", + "Take the bread with firm crust edges and drop it into the rounded skillet with a holey handle.", + "Lift the bread loaf with square shape and drop it into the pan with dark finish", + "Pick up the bread with firm crust edges with the right arm and drop it in the dark gray skillet", + "Use the right arm to set the bread with firm crust edges into the dark gray skillet.", + "Take the bread loaf with square shape and put it in the medium skillet.", + "Use the right arm to pick the rectangular bread soft inside and place it into the gray cooking pan with handle.", + "Grab the golden brown loaf-shaped bread using the right arm and place it in the round skillet with handle", + "Take the brown bread loaf off the table into the dark gray skillet", + "Grab the bread with rounded corners and place it inside the skillet for cooking", + "Use the right arm to stick the brown bread loaf into the round skillet with handle.", + "Pick up the bread with golden surface color and put it in the medium round cast iron skillet", + "Pick the bread with golden surface color and set it into the dark gray skillet.", + "Use the right arm to move the golden crusted bread slice and set it into the rounded skillet with a holey handle.", + "Place the golden crusted bread slice into the gray cooking pan with handle using the right arm", + "Use the right arm to pick the square loaf of bread up for the gray cooking pan with handle", + "Use the right arm to grab the bread with firm crust edges and set it in the gray pan.", + "Use the right arm to place the golden bread into the skillet for cooking", + "Put the brown bread loaf into the smooth cast iron skillet.", + "Move the bread with firm crust edges into the smooth cast iron skillet from the table", + "Use the right arm to grab the golden brown loaf-shaped bread for the skillet for cooking", + "Lift the square loaf of bread and drop it into the pan with dark finish.", + "Put the bread loaf with square shape into the gray cooking pan with handle after grabbing it", + "Grab the golden brown loaf-shaped bread from the table and set it in the medium skillet.", + "Take the brown bread loaf with the right arm and drop into the smooth round cooking skillet", + "Use the right arm to lift the bread with golden surface color and place it into the gray pan.", + "Place the brown bread loaf into the pan with dark finish with the right arm.", + "Use the right arm to take the soft golden baked bread and move it into the pan with dark finish.", + "Set the brown bread loaf into the skillet for cooking after grabbing", + "Move the rectangular bread soft inside from table into the gray pan", + "Grab the golden crusted bread slice and place it inside the rounded skillet with a holey handle.", + "Grab the bread with firm crust edges with the right arm and place in the medium round cast iron skillet", + "Pick the square loaf of bread with the right arm and set it in the smooth round cooking skillet", + "Take the bread loaf with square shape and place it inside the pan with dark finish", + "Move the bread with rounded corners to the pan with dark finish using the right arm", + "Place the bread with rounded corners from the table into the medium skillet", + "Use the right arm to grab the golden bread for the pan with dark finish", + "Take the golden crusted bread slice and place it inside the smooth round cooking skillet", + "Pick the golden brown loaf-shaped bread up using the right arm and drop it in the gray pan.", + "Use the right arm to pick the slice-shaped bread and put it in the smooth round cooking skillet", + "Take the bread with rounded corners and set it into the gray pan", + "Take the bread with firm crust edges and put it in the smooth cast iron skillet.", + "Pick the bread with rounded corners and transfer it to the rounded skillet with a holey handle", + "Pick the bread with firm crust edges off the table and place it in the medium skillet.", + "Use the right arm to pick the golden bread for the gray pan", + "Use the right arm to move the soft golden baked bread into the rounded skillet with a holey handle", + "Grab the golden bread and stick it in the hefty black skillet.", + "Lift the rectangular bread soft inside using the right arm and move it to the rounded skillet with a holey handle", + "Transfer the bread with rounded corners into the dark gray skillet from the table", + "Pick up the rectangular bread soft inside and place it in the hefty black skillet.", + "Grab the bread with rounded corners and drop it into the round skillet with handle", + "Take the brown bread loaf and drop it into the smooth round cooking skillet.", + "Lift the rectangular bread soft inside and drop it into the dark gray skillet", + "Pick up the bread loaf with square shape with the right arm and drop it in the gray cooking pan with handle", + "Use the right arm to set the bread with firm crust edges into the skillet for cooking.", + "Take the square loaf of bread and put it in the gray cooking pan with handle.", + "Use the right arm to pick the slice-shaped bread and place it into the pan with dark finish.", + "Grab the bread with rounded corners using the right arm and place it in the medium skillet" + ], + "unseen": [ + "Pick up the soft rectangular bread loaf and drop it into the dark gray round cast iron pan", + "Grab the small loaf-shaped bread and set it in the dark gray round cast iron pan", + "Move the small loaf-shaped bread to the cooking skillet with grippy handle using the right arm.", + "Grab the small loaf-shaped bread and place it in the cooking skillet with grippy handle", + "Use the right arm to grab the bread loaf medium-sized and set it in the dark gray round cast iron pan", + "Grab the bread loaf medium-sized and place it into the dark gray round cast iron pan.", + "Grab the small loaf-shaped bread and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to move the bread loaf medium-sized to the blackish-gray cast iron skillet.", + "Pick the bread loaf medium-sized up and place it in the blackish-gray cast iron skillet", + "Take the bread loaf medium-sized and put it in the blackish-gray cast iron skillet", + "Pick up the bread loaf medium-sized and drop it into the cooking skillet with grippy handle", + "Grab the bread loaf medium-sized and set it in the cooking skillet with grippy handle", + "Move the small loaf-shaped bread to the blackish-gray cast iron skillet using the right arm.", + "Grab the soft rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Use the right arm to grab the soft rectangular bread loaf and set it in the dark gray round cast iron pan", + "Grab the soft rectangular bread loaf and place it into the blackish-gray cast iron skillet.", + "Grab the small loaf-shaped bread and drop it into the cooking skillet with grippy handle.", + "Use the right arm to move the bread loaf medium-sized to the dark gray round cast iron pan.", + "Pick the soft rectangular bread loaf up and place it in the dark gray round cast iron pan", + "Take the soft rectangular bread loaf and put it in the cooking skillet with grippy handle", + "Pick up the small loaf-shaped bread and drop it into the blackish-gray cast iron skillet", + "Grab the bread loaf medium-sized and set it in the dark gray round cast iron pan", + "Move the small loaf-shaped bread to the cooking skillet with grippy handle using the right arm.", + "Grab the soft rectangular bread loaf and place it in the cooking skillet with grippy handle", + "Use the right arm to grab the small loaf-shaped bread and set it in the cooking skillet with grippy handle", + "Grab the bread loaf medium-sized and place it into the cooking skillet with grippy handle.", + "Grab the small loaf-shaped bread and drop it into the dark gray round cast iron pan.", + "Use the right arm to move the bread loaf medium-sized to the dark gray round cast iron pan.", + "Pick the bread loaf medium-sized up and place it in the dark gray round cast iron pan", + "Take the bread loaf medium-sized and put it in the blackish-gray cast iron skillet", + "Pick up the bread loaf medium-sized and drop it into the cooking skillet with grippy handle", + "Grab the bread loaf medium-sized and set it in the blackish-gray cast iron skillet", + "Move the soft rectangular bread loaf to the cooking skillet with grippy handle using the right arm.", + "Grab the soft rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Use the right arm to grab the small loaf-shaped bread and set it in the dark gray round cast iron pan", + "Grab the bread loaf medium-sized and place it into the cooking skillet with grippy handle.", + "Grab the small loaf-shaped bread and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to move the soft rectangular bread loaf to the cooking skillet with grippy handle.", + "Pick the small loaf-shaped bread up and place it in the cooking skillet with grippy handle", + "Take the bread loaf medium-sized and put it in the blackish-gray cast iron skillet", + "Pick up the small loaf-shaped bread and drop it into the dark gray round cast iron pan", + "Grab the small loaf-shaped bread and set it in the cooking skillet with grippy handle", + "Move the small loaf-shaped bread to the blackish-gray cast iron skillet using the right arm.", + "Grab the soft rectangular bread loaf and place it in the dark gray round cast iron pan", + "Use the right arm to grab the small loaf-shaped bread and set it in the dark gray round cast iron pan", + "Grab the soft rectangular bread loaf and place it into the blackish-gray cast iron skillet.", + "Grab the small loaf-shaped bread and drop it into the cooking skillet with grippy handle.", + "Use the right arm to move the soft rectangular bread loaf to the dark gray round cast iron pan.", + "Pick the soft rectangular bread loaf up and place it in the dark gray round cast iron pan", + "Take the bread loaf medium-sized and put it in the blackish-gray cast iron skillet", + "Pick up the small loaf-shaped bread and drop it into the blackish-gray cast iron skillet", + "Grab the bread loaf medium-sized and set it in the cooking skillet with grippy handle", + "Move the bread loaf medium-sized to the dark gray round cast iron pan using the right arm.", + "Grab the bread loaf medium-sized and place it in the blackish-gray cast iron skillet", + "Use the right arm to grab the bread loaf medium-sized and set it in the cooking skillet with grippy handle", + "Grab the bread loaf medium-sized and place it into the blackish-gray cast iron skillet.", + "Grab the small loaf-shaped bread and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to move the bread loaf medium-sized to the cooking skillet with grippy handle.", + "Pick the small loaf-shaped bread up and place it in the dark gray round cast iron pan", + "Take the soft rectangular bread loaf and put it in the blackish-gray cast iron skillet", + "Pick up the soft rectangular bread loaf and drop it into the blackish-gray cast iron skillet", + "Grab the soft rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Move the soft rectangular bread loaf to the cooking skillet with grippy handle using the right arm.", + "Grab the soft rectangular bread loaf and place it in the cooking skillet with grippy handle", + "Use the right arm to grab the small loaf-shaped bread and set it in the blackish-gray cast iron skillet", + "Grab the bread loaf medium-sized and place it into the dark gray round cast iron pan.", + "Grab the bread loaf medium-sized and drop it into the dark gray round cast iron pan.", + "Use the right arm to move the small loaf-shaped bread to the dark gray round cast iron pan.", + "Pick the bread loaf medium-sized up and place it in the dark gray round cast iron pan", + "Take the soft rectangular bread loaf and put it in the blackish-gray cast iron skillet", + "Pick up the bread loaf medium-sized and drop it into the cooking skillet with grippy handle", + "Grab the soft rectangular bread loaf and set it in the dark gray round cast iron pan", + "Move the bread loaf medium-sized to the blackish-gray cast iron skillet using the right arm.", + "Grab the bread loaf medium-sized and place it in the dark gray round cast iron pan", + "Use the right arm to grab the soft rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Grab the bread loaf medium-sized and place it into the cooking skillet with grippy handle.", + "Grab the soft rectangular bread loaf and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to move the small loaf-shaped bread to the blackish-gray cast iron skillet.", + "Pick the small loaf-shaped bread up and place it in the cooking skillet with grippy handle", + "Take the small loaf-shaped bread and put it in the dark gray round cast iron pan", + "Pick up the soft rectangular bread loaf and drop it into the cooking skillet with grippy handle", + "Grab the bread loaf medium-sized and set it in the cooking skillet with grippy handle", + "Move the bread loaf medium-sized to the cooking skillet with grippy handle using the right arm.", + "Grab the soft rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Use the right arm to grab the soft rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Grab the soft rectangular bread loaf and place it into the blackish-gray cast iron skillet.", + "Grab the small loaf-shaped bread and drop it into the cooking skillet with grippy handle.", + "Use the right arm to move the small loaf-shaped bread to the blackish-gray cast iron skillet.", + "Pick the soft rectangular bread loaf up and place it in the dark gray round cast iron pan", + "Take the bread loaf medium-sized and put it in the dark gray round cast iron pan", + "Pick up the small loaf-shaped bread and drop it into the cooking skillet with grippy handle", + "Grab the small loaf-shaped bread and set it in the blackish-gray cast iron skillet", + "Move the bread loaf medium-sized to the cooking skillet with grippy handle using the right arm.", + "Grab the small loaf-shaped bread and place it in the cooking skillet with grippy handle", + "Use the right arm to grab the soft rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Grab the soft rectangular bread loaf and place it into the blackish-gray cast iron skillet.", + "Grab the soft rectangular bread loaf and drop it into the cooking skillet with grippy handle.", + "Use the right arm to move the bread loaf medium-sized to the cooking skillet with grippy handle.", + "Pick the soft rectangular bread loaf up and place it in the dark gray round cast iron pan", + "Take the soft rectangular bread loaf and put it in the dark gray round cast iron pan" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode1.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..7cf573fe9c8b6609345d0460f3c5a509fcdb2110 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to place the light brown bread with ridges into the versatile skillet for stovetop cooking", + "Pick the bread with split top off the table and place it in the skillet with extended grip handle.", + "Pick up the bread with split top with the right arm and drop it in the medium black pan with handle", + "Pick the light brown bread with ridges up using the right arm and drop it in the flat-bottomed skillet with long handle.", + "Transfer the smooth loaf with rounded edges into the dark pan with sturdy grip from the table", + "Grab the small loaf with curved top and place it inside the heavy black cooking skillet", + "Grab the small golden brown bread with the right arm and place in the black pan with curved edges", + "Take the bread with warm golden color and drop it into the solid dark-colored round pan.", + "Take the light brown loaf with smooth sides and put it in the round pan with hole in handle.", + "Pick the light brown loaf with smooth sides and transfer it to the heavy black cooking skillet", + "Use the right arm to lift the small golden brown bread and place it into the medium black pan with handle.", + "Take the small loaf with curved top and place it inside the flat-bottomed skillet with long handle", + "Grab the light brown loaf with smooth sides from the table and set it in the round pan with hole in handle.", + "Take the small loaf with curved top off the table into the solid dark-colored round pan", + "Take the bread with warm golden color with the right arm and drop into the flat-bottomed skillet with long handle", + "Lift the light brown bread with ridges using the right arm and move it to the medium black pan with handle", + "Move the light brown loaf with smooth sides to the smooth round pan made of iron using the right arm", + "Use the right arm to grab the hand-sized oval loaf for the skillet with extended grip handle", + "Use the right arm to pick the hand-sized oval loaf up for the skillet with extended grip handle", + "Use the right arm to take the bread with split top and move it into the heavy black cooking skillet.", + "Pick up the golden bread loaf and place it in the dark pan with sturdy grip.", + "Put the light brown loaf with smooth sides into the medium black pan with handle after grabbing it", + "Move the bread with warm golden color from table into the round pan with hole in handle", + "Lift the light brown bread with ridges and drop it into the dark pan with sturdy grip", + "Take the soft brown bread and place it inside the dark pan with sturdy grip", + "Pick the small golden brown bread and set it into the medium black pan with handle.", + "Use the right arm to move the bread with split top into the skillet with extended grip handle", + "Use the right arm to set the brown loaf into the heavy black cooking skillet.", + "Lift the hand-sized oval loaf and drop it into the medium black pan with handle.", + "Grab the brown loaf and drop it into the flat-bottomed skillet with long handle", + "Use the right arm to pick the small golden brown bread for the smooth round pan made of iron", + "Grab the soft brown bread and stick it in the heavy black cooking skillet.", + "Use the right arm to pick the bread with warm golden color and place it into the skillet with extended grip handle.", + "Use the right arm to move the smooth loaf with rounded edges and set it into the round pan with hole in handle.", + "Take the light brown bread with ridges and set it into the skillet with extended grip handle", + "Set the golden bread loaf into the round pan with hole in handle after grabbing", + "Use the right arm to pick the light brown bread with ridges and put it in the smooth round pan made of iron", + "Take the brown loaf and put it in the black skillet with smooth base.", + "Use the right arm to stick the light brown loaf with smooth sides into the dark pan with sturdy grip.", + "Use the right arm to grab the smooth loaf with rounded edges for the black pan with curved edges", + "Use the right arm to grab the bread with golden-brown crust and set it in the medium black pan with handle.", + "Place the light brown bread with ridges into the black skillet with smooth base using the right arm", + "Grab the bread with split top and place it inside the dark pan with sturdy grip.", + "Put the brown loaf into the solid dark-colored round pan.", + "Pick up the golden bread loaf and put it in the dark pan with sturdy grip", + "Pick the golden bread loaf with the right arm and set it in the black pan with curved edges", + "Move the bread with warm golden color into the skillet with extended grip handle from the table", + "Grab the light brown bread with ridges using the right arm and place it in the medium black pan with handle", + "Place the smooth loaf with rounded edges into the smooth round pan made of iron with the right arm.", + "Place the light brown loaf with smooth sides from the table into the smooth round pan made of iron", + "Use the right arm to place the light brown bread with ridges into the versatile skillet for stovetop cooking", + "Pick the light brown loaf with smooth sides off the table and place it in the skillet with extended grip handle.", + "Pick up the light brown loaf with smooth sides with the right arm and drop it in the skillet with extended grip handle", + "Pick the brown loaf up using the right arm and drop it in the dark pan with sturdy grip.", + "Transfer the hand-sized oval loaf into the solid dark-colored round pan from the table", + "Grab the smooth loaf with rounded edges and place it inside the flat-bottomed skillet with long handle", + "Grab the soft brown bread with the right arm and place in the dark pan with sturdy grip", + "Take the small loaf with curved top and drop it into the versatile skillet for stovetop cooking.", + "Take the hand-sized oval loaf and put it in the round cooking pan.", + "Pick the bread with warm golden color and transfer it to the round pan with hole in handle", + "Use the right arm to lift the golden bread loaf and place it into the round pan with hole in handle.", + "Take the light brown bread with ridges and place it inside the round cooking pan", + "Grab the hand-sized oval loaf from the table and set it in the solid dark-colored round pan.", + "Take the hand-sized oval loaf off the table into the round pan with hole in handle", + "Take the smooth loaf with rounded edges with the right arm and drop into the heavy black cooking skillet", + "Lift the bread with split top using the right arm and move it to the skillet with extended grip handle", + "Move the bread with split top to the round cooking pan using the right arm", + "Use the right arm to grab the brown loaf for the black pan with curved edges", + "Use the right arm to pick the small loaf with curved top up for the versatile skillet for stovetop cooking", + "Use the right arm to take the bread with warm golden color and move it into the flat-bottomed skillet with long handle.", + "Pick up the brown loaf and place it in the heavy black cooking skillet.", + "Put the small loaf with curved top into the medium black pan with handle after grabbing it", + "Move the bread with golden-brown crust from table into the round pan with hole in handle", + "Lift the light brown bread with ridges and drop it into the black pan with curved edges", + "Take the golden bread loaf and place it inside the solid dark-colored round pan", + "Pick the bread with golden-brown crust and set it into the skillet with extended grip handle.", + "Use the right arm to move the light brown bread with ridges into the versatile skillet for stovetop cooking", + "Use the right arm to set the golden bread loaf into the skillet with extended grip handle.", + "Lift the small loaf with curved top and drop it into the medium black pan with handle.", + "Grab the brown loaf and drop it into the round pan with hole in handle", + "Use the right arm to pick the bread with split top for the round pan with hole in handle", + "Grab the small golden brown bread and stick it in the round pan with hole in handle.", + "Use the right arm to pick the light brown bread with ridges and place it into the black pan with curved edges.", + "Use the right arm to move the golden bread loaf and set it into the round pan with hole in handle.", + "Take the bread with split top and set it into the flat-bottomed skillet with long handle", + "Set the small loaf with curved top into the round cooking pan after grabbing", + "Use the right arm to pick the bread with warm golden color and put it in the heavy black cooking skillet", + "Take the bread with split top and put it in the medium black pan with handle.", + "Use the right arm to stick the soft brown bread into the smooth round pan made of iron.", + "Use the right arm to grab the bread with warm golden color for the medium black pan with handle", + "Use the right arm to grab the small loaf with curved top and set it in the dark pan with sturdy grip.", + "Place the soft brown bread into the round pan with hole in handle using the right arm", + "Grab the brown loaf and place it inside the heavy black cooking skillet.", + "Put the bread with warm golden color into the medium black pan with handle.", + "Pick up the light brown loaf with smooth sides and put it in the black pan with curved edges", + "Pick the small golden brown bread with the right arm and set it in the black pan with curved edges", + "Move the hand-sized oval loaf into the heavy black cooking skillet from the table", + "Grab the golden bread loaf using the right arm and place it in the flat-bottomed skillet with long handle", + "Place the bread with golden-brown crust into the round cooking pan with the right arm.", + "Place the bread with warm golden color from the table into the flat-bottomed skillet with long handle" + ], + "unseen": [ + "Take the oval bread and put it in the black skillet", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the rounded oval bread and place it in the black skillet", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Grab the oval bread and drop it into the iron skillet for frying foods.", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Pick up the oval bread and drop it into the black skillet", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Grab the rounded oval bread and set it in the black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Grab the oval bread and place it into the black skillet.", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Grab the oval bread and set it in the black skillet", + "Use the right arm to grab the oval bread and set it in the iron skillet for frying foods", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Pick the rounded oval bread up and place it in the black skillet", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Take the oval-shaped soft bread and put it in the black skillet", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Use the right arm to move the oval bread to the black skillet.", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Grab the rounded oval bread and place it in the black skillet", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Grab the oval bread and place it in the black skillet", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Pick the rounded oval bread up and place it in the black skillet", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Take the oval bread and put it in the round cast-iron skillet", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Grab the oval bread and place it in the black skillet", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Grab the rounded oval bread and place it into the black skillet.", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Use the right arm to move the rounded oval bread to the black skillet.", + "Take the oval bread and put it in the black skillet", + "Pick up the oval bread and drop it into the black skillet", + "Grab the oval bread and place it in the black skillet", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Move the rounded oval bread to the black skillet using the right arm.", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Use the right arm to move the oval bread to the iron skillet for frying foods.", + "Take the rounded oval bread and put it in the black skillet", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the oval bread and set it in the black skillet", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Grab the oval bread and drop it into the black skillet.", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Use the right arm to move the oval bread to the black skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode10.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..218aee106ad735b2c77a103c9ed5aa10673ac366 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the small bread and drop it into the solid dark-colored round pan", + "Take the round bread with braided top and put it in the medium black pan with handle.", + "Use the left arm to lift the round bread with braided top and place it into the round pan with hole in handle.", + "Take the smooth crusty small bread and drop it into the black skillet with smooth base.", + "Lift the soft golden bread using the left arm and move it to the black skillet with smooth base", + "Pick up the round bread with crusty texture and place it in the smooth round pan made of iron.", + "Take the round bread with crusty texture and put it in the solid dark-colored round pan.", + "Use the left arm to stick the round bread with crusty texture into the skillet with extended grip handle.", + "Use the left arm to grab the small golden baked bread and set it in the medium black pan with handle.", + "Grab the golden bread loaf with soft inside with the left arm and place in the heavy black cooking skillet", + "Grab the soft golden bread from the table and set it in the black skillet with smooth base.", + "Use the left arm to place the round bread with braided top into the black pan with curved edges", + "Use the left arm to set the bread with golden crust into the medium black pan with handle.", + "Pick the golden brown bread off the table and place it in the medium black pan with handle.", + "Grab the soft golden bread using the left arm and place it in the heavy black cooking skillet", + "Move the soft golden bread from table into the flat-bottomed skillet with long handle", + "Take the bread with golden crust with the left arm and drop into the medium black pan with handle", + "Place the bread with golden crust into the smooth round pan made of iron using the left arm", + "Grab the golden bread loaf with soft inside and drop it into the skillet with extended grip handle", + "Transfer the round bread with braided top into the flat-bottomed skillet with long handle from the table", + "Take the round bread with crusty texture and place it inside the versatile skillet for stovetop cooking", + "Grab the small bread and place it inside the round pan with hole in handle.", + "Pick up the golden brown bread and put it in the round cooking pan", + "Use the left arm to move the round bread with crusty texture into the black skillet with smooth base", + "Place the round bread with braided top from the table into the medium black pan with handle", + "Grab the small bread and stick it in the solid dark-colored round pan.", + "Move the small bread to the round cooking pan using the left arm", + "Use the left arm to pick the small bread up for the skillet with extended grip handle", + "Pick up the soft doughy bread with the left arm and drop it in the flat-bottomed skillet with long handle", + "Use the left arm to pick the round bread with crusty texture and put it in the solid dark-colored round pan", + "Use the left arm to move the small golden baked bread and set it into the smooth round pan made of iron.", + "Use the left arm to grab the smooth crusty small bread for the black skillet with smooth base", + "Lift the golden brown bread and drop it into the skillet with extended grip handle.", + "Use the left arm to pick the small golden baked bread and place it into the round cooking pan.", + "Place the soft doughy bread into the round pan with hole in handle with the left arm.", + "Take the round bread with crusty texture and place it inside the skillet with extended grip handle", + "Take the golden brown bread and set it into the heavy black cooking skillet", + "Set the golden bread loaf with soft inside into the versatile skillet for stovetop cooking after grabbing", + "Pick the small bread and transfer it to the heavy black cooking skillet", + "Take the small bread off the table into the round pan with hole in handle", + "Put the round bread with crusty texture into the solid dark-colored round pan.", + "Use the left arm to grab the small golden baked bread for the skillet with extended grip handle", + "Move the small golden baked bread into the smooth round pan made of iron from the table", + "Put the soft golden bread into the smooth round pan made of iron after grabbing it", + "Pick the smooth crusty small bread up using the left arm and drop it in the solid dark-colored round pan.", + "Use the left arm to take the bread with golden crust and move it into the round cooking pan.", + "Pick the smooth crusty small bread and set it into the medium black pan with handle.", + "Pick the golden brown bread with braided design with the left arm and set it in the dark pan with sturdy grip", + "Grab the golden brown bread and place it inside the versatile skillet for stovetop cooking", + "Use the left arm to pick the braided bread loaf for the dark pan with sturdy grip", + "Lift the round bread with braided top and drop it into the solid dark-colored round pan", + "Take the small bread and put it in the versatile skillet for stovetop cooking.", + "Use the left arm to lift the golden bread loaf with soft inside and place it into the round cooking pan.", + "Take the golden brown bread with braided design and drop it into the flat-bottomed skillet with long handle.", + "Lift the golden brown bread using the left arm and move it to the medium black pan with handle", + "Pick up the round bread with crusty texture and place it in the versatile skillet for stovetop cooking.", + "Take the smooth crusty small bread and put it in the round pan with hole in handle.", + "Use the left arm to stick the bread with golden crust into the medium black pan with handle.", + "Use the left arm to grab the smooth crusty small bread and set it in the round pan with hole in handle.", + "Grab the small bread with the left arm and place in the versatile skillet for stovetop cooking", + "Grab the braided bread loaf from the table and set it in the skillet with extended grip handle.", + "Use the left arm to place the round bread with crusty texture into the smooth round pan made of iron", + "Use the left arm to set the small golden baked bread into the solid dark-colored round pan.", + "Pick the golden brown bread off the table and place it in the skillet with extended grip handle.", + "Grab the golden brown bread with braided design using the left arm and place it in the round pan with hole in handle", + "Move the golden brown bread from table into the versatile skillet for stovetop cooking", + "Take the small golden baked bread with the left arm and drop into the medium black pan with handle", + "Place the golden brown bread with braided design into the flat-bottomed skillet with long handle using the left arm", + "Grab the braided bread loaf and drop it into the skillet with extended grip handle", + "Transfer the soft golden bread into the round cooking pan from the table", + "Take the round bread with crusty texture and place it inside the round pan with hole in handle", + "Grab the braided bread loaf and place it inside the medium black pan with handle.", + "Pick up the small bread and put it in the heavy black cooking skillet", + "Use the left arm to move the soft golden bread into the round cooking pan", + "Place the soft doughy bread from the table into the heavy black cooking skillet", + "Grab the braided bread loaf and stick it in the round pan with hole in handle.", + "Move the soft doughy bread to the skillet with extended grip handle using the left arm", + "Use the left arm to pick the soft doughy bread up for the solid dark-colored round pan", + "Pick up the smooth crusty small bread with the left arm and drop it in the round cooking pan", + "Use the left arm to pick the golden brown bread and put it in the skillet with extended grip handle", + "Use the left arm to move the golden brown bread and set it into the round pan with hole in handle.", + "Use the left arm to grab the small bread for the black skillet with smooth base", + "Lift the bread with golden crust and drop it into the medium black pan with handle.", + "Use the left arm to pick the golden brown bread with braided design and place it into the smooth round pan made of iron.", + "Place the braided bread loaf into the medium black pan with handle with the left arm.", + "Take the golden bread loaf with soft inside and place it inside the black skillet with smooth base", + "Take the golden brown bread with braided design and set it into the round pan with hole in handle", + "Set the golden bread loaf with soft inside into the dark pan with sturdy grip after grabbing", + "Pick the braided bread loaf and transfer it to the dark pan with sturdy grip", + "Take the golden brown bread off the table into the heavy black cooking skillet", + "Put the golden brown bread into the flat-bottomed skillet with long handle.", + "Use the left arm to grab the round bread with crusty texture for the flat-bottomed skillet with long handle", + "Move the round bread with crusty texture into the heavy black cooking skillet from the table", + "Put the golden brown bread into the smooth round pan made of iron after grabbing it", + "Pick the smooth crusty small bread up using the left arm and drop it in the dark pan with sturdy grip.", + "Use the left arm to take the small golden baked bread and move it into the round pan with hole in handle.", + "Pick the small golden baked bread and set it into the smooth round pan made of iron.", + "Pick the round bread with crusty texture with the left arm and set it in the flat-bottomed skillet with long handle", + "Grab the golden bread loaf with soft inside and place it inside the medium black pan with handle", + "Use the left arm to pick the golden brown bread for the smooth round pan made of iron" + ], + "unseen": [ + "Grab the round braided loaf and drop it into the round cast-iron skillet.", + "Grab the braided top round bread and place it into the iron skillet for frying foods.", + "Take the round braided loaf and put it in the round cast-iron skillet", + "Use the left arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Use the left arm to move the palm-sized braided golden bread to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Move the braided top round bread to the round cast-iron skillet using the left arm.", + "Pick up the round braided loaf and drop it into the round cast-iron skillet", + "Pick the palm-sized braided golden bread up and place it in the iron skillet for frying foods", + "Grab the braided top round bread and place it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and drop it into the round cast-iron skillet.", + "Grab the braided top round bread and place it into the black skillet.", + "Take the palm-sized braided golden bread and put it in the black skillet", + "Use the left arm to grab the palm-sized braided golden bread and set it in the black skillet", + "Use the left arm to move the round braided loaf to the round cast-iron skillet.", + "Grab the palm-sized braided golden bread and set it in the black skillet", + "Move the palm-sized braided golden bread to the black skillet using the left arm.", + "Pick up the braided top round bread and drop it into the round cast-iron skillet", + "Pick the palm-sized braided golden bread up and place it in the black skillet", + "Grab the palm-sized braided golden bread and place it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and drop it into the round cast-iron skillet.", + "Grab the palm-sized braided golden bread and place it into the black skillet.", + "Take the braided top round bread and put it in the round cast-iron skillet", + "Use the left arm to grab the braided top round bread and set it in the black skillet", + "Use the left arm to move the round braided loaf to the iron skillet for frying foods.", + "Grab the braided top round bread and set it in the black skillet", + "Move the round braided loaf to the iron skillet for frying foods using the left arm.", + "Pick up the palm-sized braided golden bread and drop it into the iron skillet for frying foods", + "Pick the round braided loaf up and place it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and place it in the iron skillet for frying foods", + "Grab the braided top round bread and drop it into the round cast-iron skillet.", + "Grab the braided top round bread and place it into the round cast-iron skillet.", + "Take the round braided loaf and put it in the iron skillet for frying foods", + "Use the left arm to grab the round braided loaf and set it in the black skillet", + "Use the left arm to move the round braided loaf to the round cast-iron skillet.", + "Grab the braided top round bread and set it in the black skillet", + "Move the braided top round bread to the round cast-iron skillet using the left arm.", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Pick the braided top round bread up and place it in the round cast-iron skillet", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and drop it into the iron skillet for frying foods.", + "Grab the round braided loaf and place it into the round cast-iron skillet.", + "Take the braided top round bread and put it in the iron skillet for frying foods", + "Use the left arm to grab the round braided loaf and set it in the round cast-iron skillet", + "Use the left arm to move the braided top round bread to the black skillet.", + "Grab the palm-sized braided golden bread and set it in the black skillet", + "Move the braided top round bread to the black skillet using the left arm.", + "Pick up the round braided loaf and drop it into the round cast-iron skillet", + "Pick the braided top round bread up and place it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and place it in the round cast-iron skillet", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Grab the braided top round bread and place it into the black skillet.", + "Take the palm-sized braided golden bread and put it in the iron skillet for frying foods", + "Use the left arm to grab the round braided loaf and set it in the black skillet", + "Use the left arm to move the palm-sized braided golden bread to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Move the palm-sized braided golden bread to the round cast-iron skillet using the left arm.", + "Pick up the round braided loaf and drop it into the iron skillet for frying foods", + "Pick the round braided loaf up and place it in the round cast-iron skillet", + "Grab the round braided loaf and place it in the black skillet", + "Grab the palm-sized braided golden bread and drop it into the round cast-iron skillet.", + "Grab the palm-sized braided golden bread and place it into the black skillet.", + "Take the braided top round bread and put it in the round cast-iron skillet", + "Use the left arm to grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Use the left arm to move the palm-sized braided golden bread to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and set it in the black skillet", + "Move the palm-sized braided golden bread to the iron skillet for frying foods using the left arm.", + "Pick up the palm-sized braided golden bread and drop it into the iron skillet for frying foods", + "Pick the braided top round bread up and place it in the round cast-iron skillet", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and drop it into the black skillet.", + "Grab the palm-sized braided golden bread and place it into the round cast-iron skillet.", + "Take the braided top round bread and put it in the iron skillet for frying foods", + "Use the left arm to grab the braided top round bread and set it in the round cast-iron skillet", + "Use the left arm to move the round braided loaf to the round cast-iron skillet.", + "Grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Move the palm-sized braided golden bread to the black skillet using the left arm.", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Pick the braided top round bread up and place it in the black skillet", + "Grab the palm-sized braided golden bread and place it in the iron skillet for frying foods", + "Grab the round braided loaf and drop it into the round cast-iron skillet.", + "Grab the palm-sized braided golden bread and place it into the black skillet.", + "Take the palm-sized braided golden bread and put it in the iron skillet for frying foods", + "Use the left arm to grab the braided top round bread and set it in the iron skillet for frying foods", + "Use the left arm to move the braided top round bread to the round cast-iron skillet.", + "Grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Move the palm-sized braided golden bread to the round cast-iron skillet using the left arm.", + "Pick up the braided top round bread and drop it into the black skillet", + "Pick the round braided loaf up and place it in the black skillet", + "Grab the round braided loaf and place it in the round cast-iron skillet", + "Grab the round braided loaf and drop it into the black skillet.", + "Grab the braided top round bread and place it into the round cast-iron skillet.", + "Take the braided top round bread and put it in the round cast-iron skillet", + "Use the left arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Use the left arm to move the round braided loaf to the iron skillet for frying foods.", + "Grab the round braided loaf and set it in the black skillet", + "Move the palm-sized braided golden bread to the iron skillet for frying foods using the left arm.", + "Pick up the palm-sized braided golden bread and drop it into the black skillet", + "Pick the round braided loaf up and place it in the iron skillet for frying foods", + "Grab the round braided loaf and place it in the iron skillet for frying foods" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode11.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..ec2feee47c0f0f12d67f1e9f4f362c3980147725 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the golden bread and place it inside the medium round cast iron skillet", + "Take the square-shaped bread with the right arm and drop into the hefty black skillet", + "Take the doughy and soft bread and put it in the rounded skillet with a holey handle.", + "Lift the golden bread loaf using the right arm and move it to the smooth cast iron skillet", + "Set the hand-sized bread block into the gray cooking pan with handle after grabbing", + "Pick the soft bread off the table and place it in the rounded skillet with a holey handle.", + "Take the light golden brown bread off the table into the skillet for cooking", + "Move the bread with rough texture into the rounded skillet with a holey handle from the table", + "Grab the bread loaf with bumpy surface and drop it into the hefty black skillet", + "Pick the bread loaf with bumpy surface and set it into the rounded skillet with a holey handle.", + "Pick up the cuboid bread and place it in the round skillet with handle.", + "Use the right arm to grab the bread with rough texture for the smooth round cooking skillet", + "Take the golden bread and set it into the medium skillet", + "Use the right arm to take the doughy and soft bread and move it into the round skillet with handle.", + "Pick up the light golden brown bread with the right arm and drop it in the gray cooking pan with handle", + "Grab the bread block with light patches and place it inside the pan with dark finish.", + "Use the right arm to pick the light golden brown bread for the smooth cast iron skillet", + "Use the right arm to move the golden bread into the rounded skillet with a holey handle", + "Take the soft bread and put it in the medium skillet.", + "Grab the bread loaf with uneven edges using the right arm and place it in the dark gray skillet", + "Move the soft bread from table into the rounded skillet with a holey handle", + "Grab the soft bread and stick it in the dark gray skillet.", + "Use the right arm to pick the bread block with light patches up for the smooth round cooking skillet", + "Place the hand-sized bread block into the skillet for cooking with the right arm.", + "Take the golden bread loaf and drop it into the dark gray skillet.", + "Use the right arm to place the soft bread into the pan with dark finish", + "Transfer the bread loaf with uneven edges into the smooth round cooking skillet from the table", + "Move the bread block with light patches to the smooth cast iron skillet using the right arm", + "Use the right arm to grab the square-shaped bread and set it in the pan with dark finish.", + "Lift the bread loaf with uneven edges and drop it into the gray cooking pan with handle", + "Take the golden bread loaf and place it inside the dark gray skillet", + "Pick the bread loaf with uneven edges and transfer it to the gray cooking pan with handle", + "Grab the bread loaf with uneven edges from the table and set it in the smooth cast iron skillet.", + "Use the right arm to grab the square-shaped bread for the gray pan", + "Put the bread with rough texture into the smooth cast iron skillet after grabbing it", + "Grab the bread loaf with uneven edges with the right arm and place in the dark gray skillet", + "Put the bread loaf with uneven edges into the smooth round cooking skillet.", + "Use the right arm to stick the cuboid bread into the round skillet with handle.", + "Place the golden bread loaf from the table into the gray pan", + "Pick the doughy and soft bread up using the right arm and drop it in the skillet for cooking.", + "Use the right arm to pick the light golden brown bread and put it in the round skillet with handle", + "Use the right arm to pick the soft bread and place it into the smooth round cooking skillet.", + "Pick up the square-shaped bread and put it in the round skillet with handle", + "Place the soft bread into the rounded skillet with a holey handle using the right arm", + "Use the right arm to lift the bread loaf with bumpy surface and place it into the medium round cast iron skillet.", + "Use the right arm to move the doughy and soft bread and set it into the gray pan.", + "Lift the cuboid bread and drop it into the rounded skillet with a holey handle.", + "Use the right arm to set the hand-sized bread block into the dark gray skillet.", + "Pick the bread loaf with bumpy surface with the right arm and set it in the gray pan", + "Take the square-shaped bread and place it inside the round skillet with handle", + "Grab the doughy and soft bread and place it inside the gray cooking pan with handle", + "Take the light golden brown bread with the right arm and drop into the round skillet with handle", + "Take the light golden brown bread and put it in the gray cooking pan with handle.", + "Lift the doughy and soft bread using the right arm and move it to the smooth cast iron skillet", + "Set the cuboid bread into the dark gray skillet after grabbing", + "Pick the bread loaf with uneven edges off the table and place it in the smooth round cooking skillet.", + "Take the golden bread loaf off the table into the smooth cast iron skillet", + "Move the cuboid bread into the skillet for cooking from the table", + "Grab the soft bread and drop it into the skillet for cooking", + "Pick the golden bread and set it into the gray cooking pan with handle.", + "Pick up the cuboid bread and place it in the rounded skillet with a holey handle.", + "Use the right arm to grab the bread with rough texture for the gray cooking pan with handle", + "Take the soft bread and set it into the skillet for cooking", + "Use the right arm to take the cuboid bread and move it into the smooth cast iron skillet.", + "Pick up the bread loaf with bumpy surface with the right arm and drop it in the smooth round cooking skillet", + "Grab the bread block with light patches and place it inside the medium round cast iron skillet.", + "Use the right arm to pick the bread with rough texture for the round skillet with handle", + "Use the right arm to move the doughy and soft bread into the pan with dark finish", + "Take the golden bread loaf and put it in the rounded skillet with a holey handle.", + "Grab the cuboid bread using the right arm and place it in the gray pan", + "Move the bread block with light patches from table into the rounded skillet with a holey handle", + "Grab the golden bread and stick it in the medium round cast iron skillet.", + "Use the right arm to pick the doughy and soft bread up for the skillet for cooking", + "Place the square-shaped bread into the medium round cast iron skillet with the right arm.", + "Take the light golden brown bread and drop it into the smooth round cooking skillet.", + "Use the right arm to place the golden bread loaf into the gray cooking pan with handle", + "Transfer the square-shaped bread into the pan with dark finish from the table", + "Move the square-shaped bread to the gray pan using the right arm", + "Use the right arm to grab the cuboid bread and set it in the rounded skillet with a holey handle.", + "Lift the square-shaped bread and drop it into the pan with dark finish", + "Take the golden bread and place it inside the smooth cast iron skillet", + "Pick the soft bread and transfer it to the medium skillet", + "Grab the light golden brown bread from the table and set it in the skillet for cooking.", + "Use the right arm to grab the soft bread for the hefty black skillet", + "Put the cuboid bread into the gray cooking pan with handle after grabbing it", + "Grab the doughy and soft bread with the right arm and place in the rounded skillet with a holey handle", + "Put the bread block with light patches into the rounded skillet with a holey handle.", + "Use the right arm to stick the golden bread loaf into the smooth cast iron skillet.", + "Place the light golden brown bread from the table into the dark gray skillet", + "Pick the cuboid bread up using the right arm and drop it in the round skillet with handle.", + "Use the right arm to pick the golden bread and put it in the round skillet with handle", + "Use the right arm to pick the hand-sized bread block and place it into the gray pan.", + "Pick up the bread loaf with bumpy surface and put it in the dark gray skillet", + "Place the golden bread loaf into the medium skillet using the right arm", + "Use the right arm to lift the bread with rough texture and place it into the smooth cast iron skillet.", + "Use the right arm to move the bread loaf with bumpy surface and set it into the pan with dark finish.", + "Lift the doughy and soft bread and drop it into the round skillet with handle.", + "Use the right arm to set the bread with rough texture into the rounded skillet with a holey handle.", + "Pick the doughy and soft bread with the right arm and set it in the dark gray skillet", + "Take the soft bread and place it inside the skillet for cooking" + ], + "unseen": [ + "Pick the bread loaf with soft surface up and place it in the cooking skillet with grippy handle", + "Pick up the bread loaf with soft surface and drop it into the dark gray round cast iron pan", + "Use the right arm to move the rectangular bread loaf to the cooking skillet with grippy handle.", + "Take the rectangular bread loaf and put it in the blackish-gray cast iron skillet", + "Grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Grab the bread with golden crust and place it in the blackish-gray cast iron skillet", + "Move the rectangular bread loaf to the cooking skillet with grippy handle using the right arm.", + "Grab the bread loaf with soft surface and drop it into the dark gray round cast iron pan.", + "Use the right arm to grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Pick the rectangular bread loaf up and place it in the cooking skillet with grippy handle", + "Pick up the bread loaf with soft surface and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the rectangular bread loaf to the blackish-gray cast iron skillet.", + "Take the rectangular bread loaf and put it in the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Grab the bread loaf with soft surface and place it in the cooking skillet with grippy handle", + "Move the bread with golden crust to the cooking skillet with grippy handle using the right arm.", + "Grab the rectangular bread loaf and drop it into the dark gray round cast iron pan.", + "Use the right arm to grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Pick the bread with golden crust up and place it in the blackish-gray cast iron skillet", + "Pick up the bread with golden crust and drop it into the blackish-gray cast iron skillet", + "Use the right arm to move the bread with golden crust to the dark gray round cast iron pan.", + "Take the bread loaf with soft surface and put it in the blackish-gray cast iron skillet", + "Grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it into the blackish-gray cast iron skillet.", + "Grab the rectangular bread loaf and place it in the cooking skillet with grippy handle", + "Move the bread with golden crust to the dark gray round cast iron pan using the right arm.", + "Grab the bread with golden crust and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Pick the bread with golden crust up and place it in the dark gray round cast iron pan", + "Pick up the bread loaf with soft surface and drop it into the dark gray round cast iron pan", + "Use the right arm to move the bread with golden crust to the cooking skillet with grippy handle.", + "Take the bread loaf with soft surface and put it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Grab the bread with golden crust and place it into the blackish-gray cast iron skillet.", + "Grab the bread loaf with soft surface and place it in the dark gray round cast iron pan", + "Move the rectangular bread loaf to the cooking skillet with grippy handle using the right arm.", + "Grab the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Pick the rectangular bread loaf up and place it in the dark gray round cast iron pan", + "Pick up the bread with golden crust and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the bread loaf with soft surface to the blackish-gray cast iron skillet.", + "Take the bread loaf with soft surface and put it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and place it into the dark gray round cast iron pan.", + "Grab the rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Move the rectangular bread loaf to the dark gray round cast iron pan using the right arm.", + "Grab the bread with golden crust and drop it into the cooking skillet with grippy handle.", + "Use the right arm to grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Pick the bread loaf with soft surface up and place it in the cooking skillet with grippy handle", + "Pick up the bread with golden crust and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the rectangular bread loaf to the dark gray round cast iron pan.", + "Take the rectangular bread loaf and put it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Grab the bread loaf with soft surface and place it in the blackish-gray cast iron skillet", + "Move the bread loaf with soft surface to the cooking skillet with grippy handle using the right arm.", + "Grab the rectangular bread loaf and drop it into the cooking skillet with grippy handle.", + "Use the right arm to grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Pick the rectangular bread loaf up and place it in the dark gray round cast iron pan", + "Pick up the bread loaf with soft surface and drop it into the dark gray round cast iron pan", + "Use the right arm to move the bread loaf with soft surface to the blackish-gray cast iron skillet.", + "Take the bread loaf with soft surface and put it in the blackish-gray cast iron skillet", + "Grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and place it into the blackish-gray cast iron skillet.", + "Grab the bread loaf with soft surface and place it in the dark gray round cast iron pan", + "Move the rectangular bread loaf to the cooking skillet with grippy handle using the right arm.", + "Grab the bread with golden crust and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Pick the rectangular bread loaf up and place it in the dark gray round cast iron pan", + "Pick up the bread loaf with soft surface and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the bread with golden crust to the blackish-gray cast iron skillet.", + "Take the bread loaf with soft surface and put it in the blackish-gray cast iron skillet", + "Grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Grab the bread loaf with soft surface and place it in the cooking skillet with grippy handle", + "Move the rectangular bread loaf to the cooking skillet with grippy handle using the right arm.", + "Grab the rectangular bread loaf and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark gray round cast iron pan", + "Pick the bread with golden crust up and place it in the dark gray round cast iron pan", + "Pick up the rectangular bread loaf and drop it into the blackish-gray cast iron skillet", + "Use the right arm to move the bread loaf with soft surface to the cooking skillet with grippy handle.", + "Take the rectangular bread loaf and put it in the cooking skillet with grippy handle", + "Grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Grab the bread with golden crust and place it into the cooking skillet with grippy handle.", + "Grab the rectangular bread loaf and place it in the cooking skillet with grippy handle", + "Move the bread with golden crust to the cooking skillet with grippy handle using the right arm.", + "Grab the bread with golden crust and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Pick the bread loaf with soft surface up and place it in the blackish-gray cast iron skillet", + "Pick up the bread loaf with soft surface and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the rectangular bread loaf to the blackish-gray cast iron skillet.", + "Take the rectangular bread loaf and put it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Grab the bread loaf with soft surface and place it in the blackish-gray cast iron skillet", + "Move the bread with golden crust to the dark gray round cast iron pan using the right arm.", + "Grab the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark gray round cast iron pan" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode12.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..1756f9c1c75cb3943324fdaa792d8bc0849cb705 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the bread with warm golden color and drop it into the medium black pan with handle.", + "Place the soft brown bread from the table into the black pan with curved edges", + "Take the golden bread loaf and place it inside the medium black pan with handle", + "Move the bread with split top from table into the smooth round pan made of iron", + "Pick up the bread with golden-brown crust and put it in the round pan with hole in handle", + "Use the right arm to take the small loaf with curved top and move it into the dark pan with sturdy grip.", + "Take the bread with warm golden color and place it inside the flat-bottomed skillet with long handle", + "Put the soft brown bread into the solid dark-colored round pan after grabbing it", + "Grab the soft brown bread using the right arm and place it in the smooth round pan made of iron", + "Pick the bread with golden-brown crust off the table and place it in the smooth round pan made of iron.", + "Pick the bread with golden-brown crust up using the right arm and drop it in the round cooking pan.", + "Move the small loaf with curved top to the dark pan with sturdy grip using the right arm", + "Use the right arm to grab the soft brown bread for the black pan with curved edges", + "Take the soft brown bread off the table into the smooth round pan made of iron", + "Lift the smooth loaf with rounded edges using the right arm and move it to the solid dark-colored round pan", + "Use the right arm to pick the bread with golden-brown crust and put it in the skillet with extended grip handle", + "Grab the smooth loaf with rounded edges and place it inside the smooth round pan made of iron.", + "Take the smooth loaf with rounded edges and drop it into the versatile skillet for stovetop cooking.", + "Take the small golden brown bread and put it in the medium black pan with handle.", + "Set the smooth loaf with rounded edges into the heavy black cooking skillet after grabbing", + "Take the small loaf with curved top and put it in the round cooking pan.", + "Place the light brown bread with ridges into the dark pan with sturdy grip using the right arm", + "Pick up the smooth loaf with rounded edges and place it in the versatile skillet for stovetop cooking.", + "Put the light brown loaf with smooth sides into the black skillet with smooth base.", + "Transfer the soft brown bread into the round cooking pan from the table", + "Lift the bread with warm golden color and drop it into the round cooking pan", + "Pick the light brown bread with ridges and transfer it to the skillet with extended grip handle", + "Use the right arm to pick the light brown loaf with smooth sides up for the medium black pan with handle", + "Pick up the bread with warm golden color with the right arm and drop it in the versatile skillet for stovetop cooking", + "Use the right arm to set the smooth loaf with rounded edges into the solid dark-colored round pan.", + "Grab the small loaf with curved top and drop it into the skillet with extended grip handle", + "Use the right arm to pick the bread with golden-brown crust and place it into the dark pan with sturdy grip.", + "Take the small golden brown bread with the right arm and drop into the solid dark-colored round pan", + "Grab the smooth loaf with rounded edges with the right arm and place in the black pan with curved edges", + "Use the right arm to lift the golden bread loaf and place it into the heavy black cooking skillet.", + "Grab the light brown loaf with smooth sides and place it inside the medium black pan with handle", + "Use the right arm to place the bread with split top into the smooth round pan made of iron", + "Pick the small loaf with curved top with the right arm and set it in the black skillet with smooth base", + "Use the right arm to stick the brown loaf into the flat-bottomed skillet with long handle.", + "Use the right arm to move the light brown bread with ridges and set it into the round pan with hole in handle.", + "Place the bread with split top into the versatile skillet for stovetop cooking with the right arm.", + "Take the light brown bread with ridges and set it into the round cooking pan", + "Grab the hand-sized oval loaf from the table and set it in the black pan with curved edges.", + "Use the right arm to grab the light brown bread with ridges for the round pan with hole in handle", + "Move the small loaf with curved top into the black skillet with smooth base from the table", + "Use the right arm to move the bread with golden-brown crust into the round cooking pan", + "Use the right arm to grab the light brown loaf with smooth sides and set it in the skillet with extended grip handle.", + "Use the right arm to pick the small loaf with curved top for the skillet with extended grip handle", + "Grab the smooth loaf with rounded edges and stick it in the skillet with extended grip handle.", + "Pick the smooth loaf with rounded edges and set it into the heavy black cooking skillet.", + "Lift the bread with warm golden color and drop it into the dark pan with sturdy grip.", + "Place the light brown loaf with smooth sides from the table into the round pan with hole in handle", + "Take the bread with split top and place it inside the heavy black cooking skillet", + "Move the hand-sized oval loaf from table into the round cooking pan", + "Pick up the light brown loaf with smooth sides and put it in the round cooking pan", + "Use the right arm to take the brown loaf and move it into the flat-bottomed skillet with long handle.", + "Take the soft brown bread and place it inside the black skillet with smooth base", + "Put the hand-sized oval loaf into the black skillet with smooth base after grabbing it", + "Grab the soft brown bread using the right arm and place it in the skillet with extended grip handle", + "Pick the bread with warm golden color off the table and place it in the flat-bottomed skillet with long handle.", + "Pick the smooth loaf with rounded edges up using the right arm and drop it in the solid dark-colored round pan.", + "Move the light brown bread with ridges to the versatile skillet for stovetop cooking using the right arm", + "Use the right arm to grab the soft brown bread for the skillet with extended grip handle", + "Take the smooth loaf with rounded edges off the table into the smooth round pan made of iron", + "Lift the small loaf with curved top using the right arm and move it to the dark pan with sturdy grip", + "Use the right arm to pick the light brown bread with ridges and put it in the smooth round pan made of iron", + "Grab the light brown bread with ridges and place it inside the medium black pan with handle.", + "Take the soft brown bread and drop it into the versatile skillet for stovetop cooking.", + "Take the bread with warm golden color and put it in the flat-bottomed skillet with long handle.", + "Set the bread with warm golden color into the versatile skillet for stovetop cooking after grabbing", + "Take the golden bread loaf and put it in the medium black pan with handle.", + "Place the light brown bread with ridges into the flat-bottomed skillet with long handle using the right arm", + "Pick up the bread with split top and place it in the dark pan with sturdy grip.", + "Put the soft brown bread into the dark pan with sturdy grip.", + "Transfer the smooth loaf with rounded edges into the dark pan with sturdy grip from the table", + "Lift the bread with warm golden color and drop it into the smooth round pan made of iron", + "Pick the small golden brown bread and transfer it to the black skillet with smooth base", + "Use the right arm to pick the hand-sized oval loaf up for the heavy black cooking skillet", + "Pick up the bread with warm golden color with the right arm and drop it in the black pan with curved edges", + "Use the right arm to set the golden bread loaf into the skillet with extended grip handle.", + "Grab the golden bread loaf and drop it into the smooth round pan made of iron", + "Use the right arm to pick the light brown loaf with smooth sides and place it into the heavy black cooking skillet.", + "Take the bread with warm golden color with the right arm and drop into the black pan with curved edges", + "Grab the bread with golden-brown crust with the right arm and place in the dark pan with sturdy grip", + "Use the right arm to lift the bread with split top and place it into the flat-bottomed skillet with long handle.", + "Grab the soft brown bread and place it inside the black pan with curved edges", + "Use the right arm to place the small loaf with curved top into the round pan with hole in handle", + "Pick the bread with golden-brown crust with the right arm and set it in the smooth round pan made of iron", + "Use the right arm to stick the smooth loaf with rounded edges into the skillet with extended grip handle.", + "Use the right arm to move the golden bread loaf and set it into the skillet with extended grip handle.", + "Place the small golden brown bread into the round cooking pan with the right arm.", + "Take the light brown loaf with smooth sides and set it into the heavy black cooking skillet", + "Grab the small loaf with curved top from the table and set it in the dark pan with sturdy grip.", + "Use the right arm to grab the smooth loaf with rounded edges for the heavy black cooking skillet", + "Move the light brown bread with ridges into the dark pan with sturdy grip from the table", + "Use the right arm to move the small golden brown bread into the versatile skillet for stovetop cooking", + "Use the right arm to grab the light brown bread with ridges and set it in the heavy black cooking skillet.", + "Use the right arm to pick the bread with golden-brown crust for the heavy black cooking skillet", + "Grab the golden bread loaf and stick it in the smooth round pan made of iron.", + "Pick the light brown bread with ridges and set it into the smooth round pan made of iron." + ], + "unseen": [ + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Pick the rounded oval bread up and place it in the black skillet", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Grab the oval bread and place it in the round cast-iron skillet", + "Grab the oval bread and place it into the black skillet.", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Grab the rounded oval bread and set it in the black skillet", + "Take the oval-shaped soft bread and put it in the black skillet", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Pick the rounded oval bread up and place it in the black skillet", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Pick up the rounded oval bread and drop it into the black skillet", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Use the right arm to move the rounded oval bread to the black skillet.", + "Grab the oval bread and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Grab the rounded oval bread and set it in the black skillet", + "Take the oval bread and put it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and place it into the black skillet.", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the black skillet", + "Take the oval-shaped soft bread and put it in the black skillet", + "Move the oval bread to the round cast-iron skillet using the right arm.", + "Pick the oval bread up and place it in the black skillet", + "Grab the rounded oval bread and drop it into the black skillet.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it into the black skillet.", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Grab the oval bread and set it in the round cast-iron skillet", + "Take the oval bread and put it in the round cast-iron skillet", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Grab the rounded oval bread and drop it into the black skillet.", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Grab the rounded oval bread and place it in the black skillet", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Take the oval-shaped soft bread and put it in the black skillet", + "Move the rounded oval bread to the black skillet using the right arm.", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the black skillet.", + "Use the right arm to move the oval bread to the iron skillet for frying foods.", + "Grab the oval bread and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the oval bread and set it in the iron skillet for frying foods", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Take the rounded oval bread and put it in the black skillet", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Grab the oval bread and place it in the black skillet", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Pick up the rounded oval bread and drop it into the black skillet", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Grab the oval bread and set it in the round cast-iron skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode13.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..80c7be0d0fe13d7fb49cf65264feb9b0b19d1b26 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the smooth loaf with rounded edges for the black cooking tool skillet", + "Lift the hand-sized oval loaf and drop it into the skillet with looped handle", + "Use the right arm to grab the golden bread loaf and set it in the skillet with looped handle.", + "Grab the golden bread loaf using the right arm and place it in the black iron skillet for cooking", + "Lift the brown loaf using the right arm and move it to the black skillet with long handle", + "Use the right arm to pick the golden bread loaf and put it in the pan-shaped black skillet", + "Use the right arm to pick the smooth loaf with rounded edges up for the skillet with wide round base", + "Pick the small loaf with curved top up using the right arm and drop it in the black skillet with long handle.", + "Grab the light brown loaf with smooth sides and stick it in the heavy cast iron skillet.", + "Use the right arm to stick the brown loaf into the flat-bottomed black cast iron skillet.", + "Move the bread with warm golden color to the black skillet using the right arm", + "Place the light brown bread with ridges into the heavy cast iron skillet using the right arm", + "Set the bread with split top into the heavy cast iron skillet after grabbing", + "Pick the smooth loaf with rounded edges and transfer it to the black skillet", + "Move the small golden brown bread into the medium skillet with rough outside from the table", + "Take the small loaf with curved top and place it inside the black skillet with long handle", + "Transfer the bread with split top into the black skillet for frying foods from the table", + "Pick the golden bread loaf and set it into the black skillet with long handle.", + "Use the right arm to take the light brown loaf with smooth sides and move it into the skillet with looped handle.", + "Grab the brown loaf from the table and set it in the skillet with wide round base.", + "Pick the golden bread loaf with the right arm and set it in the flat-bottomed black cast iron skillet", + "Put the bread with split top into the black skillet with long handle.", + "Grab the smooth loaf with rounded edges with the right arm and place in the skillet with looped handle", + "Pick up the bread with golden-brown crust and put it in the black skillet for frying foods", + "Use the right arm to place the hand-sized oval loaf into the pan-shaped black skillet", + "Pick the golden bread loaf off the table and place it in the flat-bottomed black cast iron skillet.", + "Pick up the small loaf with curved top with the right arm and drop it in the black skillet", + "Use the right arm to pick the soft brown bread and place it into the black iron skillet for cooking.", + "Pick up the hand-sized oval loaf and place it in the pan-shaped black skillet.", + "Grab the light brown loaf with smooth sides and place it inside the flat-bottomed black cast iron skillet.", + "Take the small loaf with curved top and put it in the pan-shaped black skillet.", + "Use the right arm to set the light brown bread with ridges into the heavy cast iron skillet.", + "Lift the golden bread loaf and drop it into the pan-shaped black skillet.", + "Use the right arm to pick the bread with split top for the black skillet with long handle", + "Take the smooth loaf with rounded edges and set it into the skillet with looped handle", + "Use the right arm to move the bread with split top and set it into the skillet with wide round base.", + "Take the bread with warm golden color and put it in the black skillet for frying foods.", + "Use the right arm to move the small loaf with curved top into the black skillet", + "Take the bread with split top off the table into the black cooking tool skillet", + "Put the brown loaf into the heavy cast iron skillet after grabbing it", + "Move the hand-sized oval loaf from table into the black skillet with long handle", + "Use the right arm to lift the soft brown bread and place it into the medium skillet with rough outside.", + "Grab the soft brown bread and drop it into the skillet with sturdy material", + "Grab the bread with golden-brown crust and place it inside the medium skillet with rough outside", + "Place the hand-sized oval loaf from the table into the pan-shaped black skillet", + "Take the bread with split top and drop it into the medium skillet with rough outside.", + "Take the golden bread loaf and place it inside the medium skillet with rough outside", + "Place the soft brown bread into the flat-bottomed black cast iron skillet with the right arm.", + "Take the bread with split top with the right arm and drop into the flat-bottomed black cast iron skillet", + "Use the right arm to grab the light brown loaf with smooth sides for the heavy cast iron skillet", + "Use the right arm to grab the light brown bread with ridges for the skillet with looped handle", + "Lift the bread with golden-brown crust and drop it into the black iron skillet for cooking", + "Use the right arm to grab the golden bread loaf and set it in the medium skillet with rough outside.", + "Grab the bread with split top using the right arm and place it in the pan-shaped black skillet", + "Lift the hand-sized oval loaf using the right arm and move it to the skillet with wide round base", + "Use the right arm to pick the smooth loaf with rounded edges and put it in the black skillet for frying foods", + "Use the right arm to pick the hand-sized oval loaf up for the skillet with wide round base", + "Pick the small loaf with curved top up using the right arm and drop it in the skillet with looped handle.", + "Grab the bread with golden-brown crust and stick it in the skillet with wide round base.", + "Use the right arm to stick the bread with warm golden color into the flat-bottomed black cast iron skillet.", + "Move the light brown bread with ridges to the black skillet with long handle using the right arm", + "Place the soft brown bread into the black cooking tool skillet using the right arm", + "Set the small loaf with curved top into the black cooking tool skillet after grabbing", + "Pick the bread with golden-brown crust and transfer it to the black skillet with long handle", + "Move the smooth loaf with rounded edges into the pan-shaped black skillet from the table", + "Take the small loaf with curved top and place it inside the skillet with wide round base", + "Transfer the bread with split top into the heavy cast iron skillet from the table", + "Pick the golden bread loaf and set it into the skillet with looped handle.", + "Use the right arm to take the bread with warm golden color and move it into the black skillet with long handle.", + "Grab the brown loaf from the table and set it in the black cooking tool skillet.", + "Pick the bread with split top with the right arm and set it in the black skillet for frying foods", + "Put the bread with warm golden color into the black iron skillet for cooking.", + "Grab the golden bread loaf with the right arm and place in the skillet with looped handle", + "Pick up the bread with split top and put it in the flat-bottomed black cast iron skillet", + "Use the right arm to place the small loaf with curved top into the black cooking tool skillet", + "Pick the soft brown bread off the table and place it in the skillet with sturdy material.", + "Pick up the bread with warm golden color with the right arm and drop it in the flat-bottomed black cast iron skillet", + "Use the right arm to pick the golden bread loaf and place it into the black skillet.", + "Pick up the light brown loaf with smooth sides and place it in the skillet with sturdy material.", + "Grab the hand-sized oval loaf and place it inside the black skillet with long handle.", + "Take the bread with golden-brown crust and put it in the black skillet for frying foods.", + "Use the right arm to set the small loaf with curved top into the flat-bottomed black cast iron skillet.", + "Lift the light brown loaf with smooth sides and drop it into the black cooking tool skillet.", + "Use the right arm to pick the bread with golden-brown crust for the black iron skillet for cooking", + "Take the small golden brown bread and set it into the heavy cast iron skillet", + "Use the right arm to move the small loaf with curved top and set it into the heavy cast iron skillet.", + "Take the golden bread loaf and put it in the medium skillet with rough outside.", + "Use the right arm to move the bread with warm golden color into the black iron skillet for cooking", + "Take the soft brown bread off the table into the black cooking tool skillet", + "Put the light brown loaf with smooth sides into the pan-shaped black skillet after grabbing it", + "Move the small golden brown bread from table into the heavy cast iron skillet", + "Use the right arm to lift the brown loaf and place it into the black skillet.", + "Grab the bread with warm golden color and drop it into the skillet with sturdy material", + "Grab the brown loaf and place it inside the flat-bottomed black cast iron skillet", + "Place the light brown loaf with smooth sides from the table into the pan-shaped black skillet", + "Take the golden bread loaf and drop it into the heavy cast iron skillet.", + "Take the light brown loaf with smooth sides and place it inside the heavy cast iron skillet", + "Place the bread with golden-brown crust into the black cooking tool skillet with the right arm.", + "Take the bread with warm golden color with the right arm and drop into the black iron skillet for cooking", + "Use the right arm to grab the golden bread loaf for the black skillet with long handle" + ], + "unseen": [ + "Pick the oval-shaped soft bread up and place it in the round black skillet", + "Take the oval bread and put it in the round black skillet", + "Use the right arm to grab the rounded oval bread and set it in the round black skillet", + "Grab the rounded oval bread and place it into the round black skillet.", + "Pick up the oval bread and drop it into the smooth interior skillet", + "Use the right arm to move the oval bread to the smooth interior skillet.", + "Grab the rounded oval bread and place it in the smooth interior skillet", + "Grab the rounded oval bread and set it in the smooth interior skillet", + "Move the rounded oval bread to the round black skillet using the right arm.", + "Grab the oval bread and drop it into the round black skillet.", + "Pick the rounded oval bread up and place it in the medium black frying skillet", + "Take the oval bread and put it in the smooth interior skillet", + "Use the right arm to grab the oval bread and set it in the smooth interior skillet", + "Grab the oval-shaped soft bread and place it into the medium black frying skillet.", + "Pick up the oval-shaped soft bread and drop it into the round black skillet", + "Use the right arm to move the oval-shaped soft bread to the smooth interior skillet.", + "Grab the oval-shaped soft bread and place it in the smooth interior skillet", + "Grab the oval bread and set it in the smooth interior skillet", + "Move the oval-shaped soft bread to the smooth interior skillet using the right arm.", + "Grab the rounded oval bread and drop it into the round black skillet.", + "Pick the oval bread up and place it in the medium black frying skillet", + "Take the oval-shaped soft bread and put it in the smooth interior skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Grab the oval-shaped soft bread and place it into the smooth interior skillet.", + "Pick up the oval-shaped soft bread and drop it into the medium black frying skillet", + "Use the right arm to move the rounded oval bread to the medium black frying skillet.", + "Grab the oval-shaped soft bread and place it in the smooth interior skillet", + "Grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Move the oval-shaped soft bread to the round black skillet using the right arm.", + "Grab the oval bread and drop it into the medium black frying skillet.", + "Pick the oval-shaped soft bread up and place it in the round black skillet", + "Take the oval bread and put it in the smooth interior skillet", + "Use the right arm to grab the rounded oval bread and set it in the round black skillet", + "Grab the oval-shaped soft bread and place it into the smooth interior skillet.", + "Pick up the rounded oval bread and drop it into the smooth interior skillet", + "Use the right arm to move the oval bread to the smooth interior skillet.", + "Grab the oval bread and place it in the round black skillet", + "Grab the oval-shaped soft bread and set it in the smooth interior skillet", + "Move the oval-shaped soft bread to the medium black frying skillet using the right arm.", + "Grab the oval-shaped soft bread and drop it into the round black skillet.", + "Pick the oval bread up and place it in the smooth interior skillet", + "Take the rounded oval bread and put it in the round black skillet", + "Use the right arm to grab the oval bread and set it in the smooth interior skillet", + "Grab the rounded oval bread and place it into the medium black frying skillet.", + "Pick up the rounded oval bread and drop it into the round black skillet", + "Use the right arm to move the rounded oval bread to the round black skillet.", + "Grab the rounded oval bread and place it in the medium black frying skillet", + "Grab the oval-shaped soft bread and set it in the smooth interior skillet", + "Move the rounded oval bread to the smooth interior skillet using the right arm.", + "Grab the oval-shaped soft bread and drop it into the round black skillet.", + "Pick the oval bread up and place it in the smooth interior skillet", + "Take the rounded oval bread and put it in the round black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the round black skillet", + "Grab the rounded oval bread and place it into the round black skillet.", + "Pick up the rounded oval bread and drop it into the smooth interior skillet", + "Use the right arm to move the oval bread to the smooth interior skillet.", + "Grab the oval bread and place it in the medium black frying skillet", + "Grab the oval bread and set it in the smooth interior skillet", + "Move the rounded oval bread to the round black skillet using the right arm.", + "Grab the oval-shaped soft bread and drop it into the smooth interior skillet.", + "Pick the rounded oval bread up and place it in the medium black frying skillet", + "Take the oval bread and put it in the round black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the round black skillet", + "Grab the rounded oval bread and place it into the round black skillet.", + "Pick up the oval bread and drop it into the round black skillet", + "Use the right arm to move the oval bread to the medium black frying skillet.", + "Grab the oval-shaped soft bread and place it in the round black skillet", + "Grab the rounded oval bread and set it in the smooth interior skillet", + "Move the rounded oval bread to the medium black frying skillet using the right arm.", + "Grab the oval-shaped soft bread and drop it into the medium black frying skillet.", + "Pick the rounded oval bread up and place it in the medium black frying skillet", + "Take the oval-shaped soft bread and put it in the medium black frying skillet", + "Use the right arm to grab the rounded oval bread and set it in the smooth interior skillet", + "Grab the oval bread and place it into the round black skillet.", + "Pick up the oval bread and drop it into the medium black frying skillet", + "Use the right arm to move the rounded oval bread to the medium black frying skillet.", + "Grab the oval bread and place it in the medium black frying skillet", + "Grab the oval bread and set it in the medium black frying skillet", + "Move the oval bread to the smooth interior skillet using the right arm.", + "Grab the oval-shaped soft bread and drop it into the smooth interior skillet.", + "Pick the oval bread up and place it in the smooth interior skillet", + "Take the rounded oval bread and put it in the smooth interior skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Grab the rounded oval bread and place it into the smooth interior skillet.", + "Pick up the oval bread and drop it into the medium black frying skillet", + "Use the right arm to move the oval bread to the round black skillet.", + "Grab the oval bread and place it in the round black skillet", + "Grab the oval-shaped soft bread and set it in the smooth interior skillet", + "Move the rounded oval bread to the smooth interior skillet using the right arm.", + "Grab the oval-shaped soft bread and drop it into the round black skillet.", + "Pick the oval-shaped soft bread up and place it in the smooth interior skillet", + "Take the oval bread and put it in the round black skillet", + "Use the right arm to grab the oval bread and set it in the smooth interior skillet", + "Grab the rounded oval bread and place it into the round black skillet.", + "Pick up the oval bread and drop it into the smooth interior skillet", + "Use the right arm to move the oval bread to the round black skillet.", + "Grab the oval-shaped soft bread and place it in the smooth interior skillet", + "Grab the oval bread and set it in the smooth interior skillet", + "Move the rounded oval bread to the medium black frying skillet using the right arm.", + "Grab the oval bread and drop it into the round black skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode14.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..b2e1c22a952325c435d86e7a6d7fcdfe745426ce --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the golden brown loaf-shaped bread and place it inside the medium skillet.", + "Use the left arm to grab the brown bread loaf and set it in the round skillet with handle.", + "Use the left arm to pick the brown bread loaf up for the pan with dark finish", + "Use the left arm to move the brown bread loaf and set it into the pan with dark finish.", + "Use the left arm to grab the slice-shaped bread for the medium round cast iron skillet", + "Pick up the square loaf of bread and place it in the pan with dark finish.", + "Take the bread with rounded corners with the left arm and drop into the smooth round cooking skillet", + "Pick the bread with golden surface color and transfer it to the pan with dark finish", + "Take the soft golden baked bread off the table into the smooth cast iron skillet", + "Lift the bread loaf with square shape using the left arm and move it to the gray pan", + "Grab the bread loaf with square shape from the table and set it in the round skillet with handle.", + "Set the square loaf of bread into the hefty black skillet after grabbing", + "Use the left arm to lift the golden bread and place it into the gray pan.", + "Take the golden brown loaf-shaped bread and put it in the round skillet with handle.", + "Use the left arm to set the bread with firm crust edges into the rounded skillet with a holey handle.", + "Pick the bread with firm crust edges and set it into the medium round cast iron skillet.", + "Grab the golden bread and place it inside the rounded skillet with a holey handle", + "Grab the bread with firm crust edges with the left arm and place in the rounded skillet with a holey handle", + "Grab the soft golden baked bread and drop it into the gray cooking pan with handle", + "Put the bread with golden surface color into the rounded skillet with a holey handle after grabbing it", + "Place the soft golden baked bread from the table into the smooth round cooking skillet", + "Pick the brown bread loaf with the left arm and set it in the gray cooking pan with handle", + "Use the left arm to place the soft golden baked bread into the smooth round cooking skillet", + "Grab the golden crusted bread slice and stick it in the gray cooking pan with handle.", + "Take the golden brown loaf-shaped bread and set it into the dark gray skillet", + "Use the left arm to stick the brown bread loaf into the medium round cast iron skillet.", + "Take the bread loaf with square shape and place it inside the rounded skillet with a holey handle", + "Transfer the brown bread loaf into the hefty black skillet from the table", + "Pick the brown bread loaf up using the left arm and drop it in the dark gray skillet.", + "Use the left arm to grab the bread with rounded corners for the smooth cast iron skillet", + "Place the rectangular bread soft inside into the gray pan using the left arm", + "Move the rectangular bread soft inside from table into the skillet for cooking", + "Grab the slice-shaped bread using the left arm and place it in the rounded skillet with a holey handle", + "Take the bread with golden surface color and put it in the gray cooking pan with handle.", + "Pick up the square loaf of bread with the left arm and drop it in the dark gray skillet", + "Use the left arm to pick the square loaf of bread and put it in the medium skillet", + "Take the golden bread and drop it into the pan with dark finish.", + "Move the rectangular bread soft inside into the smooth cast iron skillet from the table", + "Put the bread with firm crust edges into the pan with dark finish.", + "Lift the slice-shaped bread and drop it into the gray pan.", + "Take the brown bread loaf and place it inside the hefty black skillet", + "Place the golden bread into the smooth round cooking skillet with the left arm.", + "Use the left arm to pick the bread loaf with square shape for the hefty black skillet", + "Move the bread loaf with square shape to the dark gray skillet using the left arm", + "Use the left arm to pick the square loaf of bread and place it into the medium skillet.", + "Use the left arm to move the golden brown loaf-shaped bread into the rounded skillet with a holey handle", + "Use the left arm to take the slice-shaped bread and move it into the medium skillet.", + "Lift the golden brown loaf-shaped bread and drop it into the smooth cast iron skillet", + "Pick the rectangular bread soft inside off the table and place it in the smooth cast iron skillet.", + "Pick up the bread with golden surface color and put it in the medium round cast iron skillet", + "Grab the rectangular bread soft inside and place it inside the medium round cast iron skillet.", + "Use the left arm to grab the square loaf of bread and set it in the dark gray skillet.", + "Use the left arm to pick the bread with golden surface color up for the hefty black skillet", + "Use the left arm to move the bread with firm crust edges and set it into the hefty black skillet.", + "Use the left arm to grab the bread with firm crust edges for the gray cooking pan with handle", + "Pick up the golden brown loaf-shaped bread and place it in the smooth round cooking skillet.", + "Take the bread with firm crust edges with the left arm and drop into the hefty black skillet", + "Pick the rectangular bread soft inside and transfer it to the gray cooking pan with handle", + "Take the golden brown loaf-shaped bread off the table into the rounded skillet with a holey handle", + "Lift the golden crusted bread slice using the left arm and move it to the medium skillet", + "Grab the slice-shaped bread from the table and set it in the skillet for cooking.", + "Set the rectangular bread soft inside into the gray pan after grabbing", + "Use the left arm to lift the golden crusted bread slice and place it into the dark gray skillet.", + "Take the golden crusted bread slice and put it in the pan with dark finish.", + "Use the left arm to set the brown bread loaf into the medium round cast iron skillet.", + "Pick the bread with golden surface color and set it into the medium skillet.", + "Grab the golden brown loaf-shaped bread and place it inside the skillet for cooking", + "Grab the square loaf of bread with the left arm and place in the dark gray skillet", + "Grab the slice-shaped bread and drop it into the dark gray skillet", + "Put the rectangular bread soft inside into the round skillet with handle after grabbing it", + "Place the slice-shaped bread from the table into the dark gray skillet", + "Pick the slice-shaped bread with the left arm and set it in the smooth round cooking skillet", + "Use the left arm to place the bread loaf with square shape into the smooth round cooking skillet", + "Grab the bread with firm crust edges and stick it in the hefty black skillet.", + "Take the bread with golden surface color and set it into the round skillet with handle", + "Use the left arm to stick the square loaf of bread into the smooth round cooking skillet.", + "Take the bread loaf with square shape and place it inside the smooth round cooking skillet", + "Transfer the square loaf of bread into the smooth round cooking skillet from the table", + "Pick the soft golden baked bread up using the left arm and drop it in the skillet for cooking.", + "Use the left arm to grab the soft golden baked bread for the gray cooking pan with handle", + "Place the bread with golden surface color into the gray pan using the left arm", + "Move the bread with firm crust edges from table into the rounded skillet with a holey handle", + "Grab the bread with golden surface color using the left arm and place it in the dark gray skillet", + "Take the golden crusted bread slice and put it in the dark gray skillet.", + "Pick up the golden crusted bread slice with the left arm and drop it in the medium skillet", + "Use the left arm to pick the bread loaf with square shape and put it in the gray cooking pan with handle", + "Take the slice-shaped bread and drop it into the smooth cast iron skillet.", + "Move the rectangular bread soft inside into the pan with dark finish from the table", + "Put the slice-shaped bread into the dark gray skillet.", + "Lift the rectangular bread soft inside and drop it into the pan with dark finish.", + "Take the soft golden baked bread and place it inside the rounded skillet with a holey handle", + "Place the golden bread into the gray pan with the left arm.", + "Use the left arm to pick the bread loaf with square shape for the medium round cast iron skillet", + "Move the bread loaf with square shape to the round skillet with handle using the left arm", + "Use the left arm to pick the bread with firm crust edges and place it into the skillet for cooking.", + "Use the left arm to move the golden crusted bread slice into the gray cooking pan with handle", + "Use the left arm to take the bread loaf with square shape and move it into the medium round cast iron skillet.", + "Lift the bread with firm crust edges and drop it into the medium skillet", + "Pick the bread loaf with square shape off the table and place it in the medium round cast iron skillet.", + "Pick up the rectangular bread soft inside and put it in the skillet for cooking" + ], + "unseen": [ + "Grab the bread loaf medium-sized and place it in the cooking skillet with grippy handle", + "Pick the bread loaf medium-sized up and place it in the dark gray round cast iron pan", + "Use the left arm to grab the bread loaf medium-sized and set it in the cooking skillet with grippy handle", + "Take the soft rectangular bread loaf and put it in the dark gray round cast iron pan", + "Grab the bread loaf medium-sized and set it in the cooking skillet with grippy handle", + "Pick up the bread loaf medium-sized and drop it into the blackish-gray cast iron skillet", + "Grab the bread loaf medium-sized and place it into the cooking skillet with grippy handle.", + "Use the left arm to move the small loaf-shaped bread to the cooking skillet with grippy handle.", + "Move the bread loaf medium-sized to the blackish-gray cast iron skillet using the left arm.", + "Grab the bread loaf medium-sized and drop it into the blackish-gray cast iron skillet.", + "Grab the bread loaf medium-sized and place it in the cooking skillet with grippy handle", + "Pick the soft rectangular bread loaf up and place it in the blackish-gray cast iron skillet", + "Use the left arm to grab the soft rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Take the small loaf-shaped bread and put it in the blackish-gray cast iron skillet", + "Grab the soft rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Pick up the small loaf-shaped bread and drop it into the cooking skillet with grippy handle", + "Grab the small loaf-shaped bread and place it into the cooking skillet with grippy handle.", + "Use the left arm to move the soft rectangular bread loaf to the blackish-gray cast iron skillet.", + "Move the bread loaf medium-sized to the blackish-gray cast iron skillet using the left arm.", + "Grab the small loaf-shaped bread and drop it into the cooking skillet with grippy handle.", + "Grab the soft rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Pick the bread loaf medium-sized up and place it in the blackish-gray cast iron skillet", + "Use the left arm to grab the soft rectangular bread loaf and set it in the dark gray round cast iron pan", + "Take the small loaf-shaped bread and put it in the dark gray round cast iron pan", + "Grab the small loaf-shaped bread and set it in the dark gray round cast iron pan", + "Pick up the small loaf-shaped bread and drop it into the cooking skillet with grippy handle", + "Grab the bread loaf medium-sized and place it into the dark gray round cast iron pan.", + "Use the left arm to move the soft rectangular bread loaf to the dark gray round cast iron pan.", + "Move the soft rectangular bread loaf to the cooking skillet with grippy handle using the left arm.", + "Grab the bread loaf medium-sized and drop it into the blackish-gray cast iron skillet.", + "Grab the small loaf-shaped bread and place it in the dark gray round cast iron pan", + "Pick the small loaf-shaped bread up and place it in the cooking skillet with grippy handle", + "Use the left arm to grab the bread loaf medium-sized and set it in the cooking skillet with grippy handle", + "Take the bread loaf medium-sized and put it in the cooking skillet with grippy handle", + "Grab the soft rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Pick up the small loaf-shaped bread and drop it into the cooking skillet with grippy handle", + "Grab the small loaf-shaped bread and place it into the blackish-gray cast iron skillet.", + "Use the left arm to move the bread loaf medium-sized to the dark gray round cast iron pan.", + "Move the bread loaf medium-sized to the dark gray round cast iron pan using the left arm.", + "Grab the bread loaf medium-sized and drop it into the cooking skillet with grippy handle.", + "Grab the bread loaf medium-sized and place it in the blackish-gray cast iron skillet", + "Pick the bread loaf medium-sized up and place it in the cooking skillet with grippy handle", + "Use the left arm to grab the small loaf-shaped bread and set it in the blackish-gray cast iron skillet", + "Take the bread loaf medium-sized and put it in the blackish-gray cast iron skillet", + "Grab the small loaf-shaped bread and set it in the cooking skillet with grippy handle", + "Pick up the small loaf-shaped bread and drop it into the cooking skillet with grippy handle", + "Grab the small loaf-shaped bread and place it into the dark gray round cast iron pan.", + "Use the left arm to move the bread loaf medium-sized to the dark gray round cast iron pan.", + "Move the soft rectangular bread loaf to the dark gray round cast iron pan using the left arm.", + "Grab the soft rectangular bread loaf and drop it into the blackish-gray cast iron skillet.", + "Grab the bread loaf medium-sized and place it in the cooking skillet with grippy handle", + "Pick the small loaf-shaped bread up and place it in the dark gray round cast iron pan", + "Use the left arm to grab the small loaf-shaped bread and set it in the cooking skillet with grippy handle", + "Take the bread loaf medium-sized and put it in the dark gray round cast iron pan", + "Grab the small loaf-shaped bread and set it in the dark gray round cast iron pan", + "Pick up the bread loaf medium-sized and drop it into the blackish-gray cast iron skillet", + "Grab the soft rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Use the left arm to move the soft rectangular bread loaf to the dark gray round cast iron pan.", + "Move the small loaf-shaped bread to the dark gray round cast iron pan using the left arm.", + "Grab the bread loaf medium-sized and drop it into the dark gray round cast iron pan.", + "Grab the soft rectangular bread loaf and place it in the cooking skillet with grippy handle", + "Pick the bread loaf medium-sized up and place it in the dark gray round cast iron pan", + "Use the left arm to grab the bread loaf medium-sized and set it in the cooking skillet with grippy handle", + "Take the soft rectangular bread loaf and put it in the dark gray round cast iron pan", + "Grab the soft rectangular bread loaf and set it in the dark gray round cast iron pan", + "Pick up the bread loaf medium-sized and drop it into the cooking skillet with grippy handle", + "Grab the bread loaf medium-sized and place it into the cooking skillet with grippy handle.", + "Use the left arm to move the small loaf-shaped bread to the blackish-gray cast iron skillet.", + "Move the small loaf-shaped bread to the blackish-gray cast iron skillet using the left arm.", + "Grab the small loaf-shaped bread and drop it into the cooking skillet with grippy handle.", + "Grab the soft rectangular bread loaf and place it in the cooking skillet with grippy handle", + "Pick the soft rectangular bread loaf up and place it in the dark gray round cast iron pan", + "Use the left arm to grab the bread loaf medium-sized and set it in the blackish-gray cast iron skillet", + "Take the bread loaf medium-sized and put it in the blackish-gray cast iron skillet", + "Grab the bread loaf medium-sized and set it in the dark gray round cast iron pan", + "Pick up the small loaf-shaped bread and drop it into the blackish-gray cast iron skillet", + "Grab the small loaf-shaped bread and place it into the cooking skillet with grippy handle.", + "Use the left arm to move the bread loaf medium-sized to the cooking skillet with grippy handle.", + "Move the small loaf-shaped bread to the cooking skillet with grippy handle using the left arm.", + "Grab the bread loaf medium-sized and drop it into the cooking skillet with grippy handle.", + "Grab the small loaf-shaped bread and place it in the cooking skillet with grippy handle", + "Pick the soft rectangular bread loaf up and place it in the cooking skillet with grippy handle", + "Use the left arm to grab the bread loaf medium-sized and set it in the blackish-gray cast iron skillet", + "Take the bread loaf medium-sized and put it in the blackish-gray cast iron skillet", + "Grab the soft rectangular bread loaf and set it in the dark gray round cast iron pan", + "Pick up the soft rectangular bread loaf and drop it into the dark gray round cast iron pan", + "Grab the small loaf-shaped bread and place it into the cooking skillet with grippy handle.", + "Use the left arm to move the bread loaf medium-sized to the cooking skillet with grippy handle.", + "Move the soft rectangular bread loaf to the dark gray round cast iron pan using the left arm.", + "Grab the bread loaf medium-sized and drop it into the cooking skillet with grippy handle.", + "Grab the bread loaf medium-sized and place it in the cooking skillet with grippy handle", + "Pick the small loaf-shaped bread up and place it in the dark gray round cast iron pan", + "Use the left arm to grab the soft rectangular bread loaf and set it in the dark gray round cast iron pan", + "Take the bread loaf medium-sized and put it in the cooking skillet with grippy handle", + "Grab the soft rectangular bread loaf and set it in the dark gray round cast iron pan", + "Pick up the small loaf-shaped bread and drop it into the cooking skillet with grippy handle", + "Grab the bread loaf medium-sized and place it into the cooking skillet with grippy handle.", + "Use the left arm to move the bread loaf medium-sized to the dark gray round cast iron pan.", + "Move the bread loaf medium-sized to the cooking skillet with grippy handle using the left arm.", + "Grab the small loaf-shaped bread and drop it into the blackish-gray cast iron skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode15.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..4f1d0b1eda0f003dad14c9ea588cefb80af1d6b4 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the golden brown loaf-shaped bread and set it into the medium black pan with handle", + "Move the golden bread from table into the skillet with extended grip handle", + "Pick the square loaf of bread and set it into the heavy black cooking skillet.", + "Use the left arm to pick the soft golden baked bread and put it in the round cooking pan", + "Place the bread with golden surface color into the heavy black cooking skillet with the left arm.", + "Take the square loaf of bread and put it in the round cooking pan.", + "Place the bread loaf with square shape from the table into the versatile skillet for stovetop cooking", + "Use the left arm to set the bread with golden surface color into the round pan with hole in handle.", + "Use the left arm to grab the bread with firm crust edges for the round cooking pan", + "Pick the golden bread up using the left arm and drop it in the versatile skillet for stovetop cooking.", + "Use the left arm to move the bread loaf with square shape into the round pan with hole in handle", + "Take the golden bread and put it in the round pan with hole in handle.", + "Move the square loaf of bread to the solid dark-colored round pan using the left arm", + "Grab the soft golden baked bread and drop it into the heavy black cooking skillet", + "Use the left arm to take the golden brown loaf-shaped bread and move it into the black pan with curved edges.", + "Lift the golden bread and drop it into the round cooking pan", + "Grab the soft golden baked bread with the left arm and place in the smooth round pan made of iron", + "Pick the square loaf of bread with the left arm and set it in the medium black pan with handle", + "Take the golden brown loaf-shaped bread off the table into the round pan with hole in handle", + "Pick up the golden brown loaf-shaped bread and put it in the dark pan with sturdy grip", + "Grab the square loaf of bread and stick it in the heavy black cooking skillet.", + "Take the golden brown loaf-shaped bread and place it inside the dark pan with sturdy grip", + "Place the rectangular bread soft inside into the black pan with curved edges using the left arm", + "Use the left arm to place the rectangular bread soft inside into the round pan with hole in handle", + "Take the bread with rounded corners and place it inside the dark pan with sturdy grip", + "Use the left arm to lift the golden brown loaf-shaped bread and place it into the flat-bottomed skillet with long handle.", + "Use the left arm to move the bread with rounded corners and set it into the solid dark-colored round pan.", + "Use the left arm to pick the rectangular bread soft inside for the black skillet with smooth base", + "Lift the bread with golden surface color using the left arm and move it to the heavy black cooking skillet", + "Move the bread with rounded corners into the skillet with extended grip handle from the table", + "Put the bread with golden surface color into the flat-bottomed skillet with long handle after grabbing it", + "Use the left arm to grab the square loaf of bread and set it in the solid dark-colored round pan.", + "Use the left arm to stick the bread with rounded corners into the dark pan with sturdy grip.", + "Use the left arm to grab the bread with rounded corners for the flat-bottomed skillet with long handle", + "Pick up the slice-shaped bread with the left arm and drop it in the dark pan with sturdy grip", + "Pick the bread with rounded corners off the table and place it in the black pan with curved edges.", + "Grab the golden crusted bread slice and place it inside the skillet with extended grip handle.", + "Use the left arm to pick the bread with golden surface color and place it into the skillet with extended grip handle.", + "Take the bread with golden surface color with the left arm and drop into the heavy black cooking skillet", + "Grab the slice-shaped bread and place it inside the flat-bottomed skillet with long handle", + "Put the bread loaf with square shape into the heavy black cooking skillet.", + "Use the left arm to pick the rectangular bread soft inside up for the round pan with hole in handle", + "Grab the bread with firm crust edges from the table and set it in the round cooking pan.", + "Take the bread with golden surface color and drop it into the solid dark-colored round pan.", + "Pick up the slice-shaped bread and place it in the black pan with curved edges.", + "Grab the bread loaf with square shape using the left arm and place it in the heavy black cooking skillet", + "Lift the golden brown loaf-shaped bread and drop it into the versatile skillet for stovetop cooking.", + "Transfer the bread with rounded corners into the versatile skillet for stovetop cooking from the table", + "Set the golden bread into the medium black pan with handle after grabbing", + "Pick the bread loaf with square shape and transfer it to the solid dark-colored round pan", + "Take the brown bread loaf and set it into the solid dark-colored round pan", + "Move the golden crusted bread slice from table into the versatile skillet for stovetop cooking", + "Pick the soft golden baked bread and set it into the smooth round pan made of iron.", + "Use the left arm to pick the soft golden baked bread and put it in the black skillet with smooth base", + "Place the square loaf of bread into the heavy black cooking skillet with the left arm.", + "Take the bread with firm crust edges and put it in the black pan with curved edges.", + "Place the bread with firm crust edges from the table into the skillet with extended grip handle", + "Use the left arm to set the brown bread loaf into the round cooking pan.", + "Use the left arm to grab the golden crusted bread slice for the skillet with extended grip handle", + "Pick the bread with golden surface color up using the left arm and drop it in the smooth round pan made of iron.", + "Use the left arm to move the golden bread into the skillet with extended grip handle", + "Take the square loaf of bread and put it in the smooth round pan made of iron.", + "Move the golden brown loaf-shaped bread to the flat-bottomed skillet with long handle using the left arm", + "Grab the bread with rounded corners and drop it into the skillet with extended grip handle", + "Use the left arm to take the rectangular bread soft inside and move it into the solid dark-colored round pan.", + "Lift the golden bread and drop it into the heavy black cooking skillet", + "Grab the brown bread loaf with the left arm and place in the skillet with extended grip handle", + "Pick the soft golden baked bread with the left arm and set it in the flat-bottomed skillet with long handle", + "Take the rectangular bread soft inside off the table into the round pan with hole in handle", + "Pick up the bread with golden surface color and put it in the smooth round pan made of iron", + "Grab the golden crusted bread slice and stick it in the flat-bottomed skillet with long handle.", + "Take the bread with firm crust edges and place it inside the flat-bottomed skillet with long handle", + "Place the bread with firm crust edges into the black skillet with smooth base using the left arm", + "Use the left arm to place the golden bread into the solid dark-colored round pan", + "Take the bread with rounded corners and place it inside the dark pan with sturdy grip", + "Use the left arm to lift the soft golden baked bread and place it into the black skillet with smooth base.", + "Use the left arm to move the rectangular bread soft inside and set it into the smooth round pan made of iron.", + "Use the left arm to pick the golden bread for the flat-bottomed skillet with long handle", + "Lift the rectangular bread soft inside using the left arm and move it to the skillet with extended grip handle", + "Move the golden brown loaf-shaped bread into the skillet with extended grip handle from the table", + "Put the rectangular bread soft inside into the flat-bottomed skillet with long handle after grabbing it", + "Use the left arm to grab the bread with firm crust edges and set it in the black skillet with smooth base.", + "Use the left arm to stick the bread with golden surface color into the black pan with curved edges.", + "Use the left arm to grab the soft golden baked bread for the heavy black cooking skillet", + "Pick up the bread loaf with square shape with the left arm and drop it in the solid dark-colored round pan", + "Pick the rectangular bread soft inside off the table and place it in the skillet with extended grip handle.", + "Grab the golden brown loaf-shaped bread and place it inside the black pan with curved edges.", + "Use the left arm to pick the golden bread and place it into the dark pan with sturdy grip.", + "Take the golden brown loaf-shaped bread with the left arm and drop into the black pan with curved edges", + "Grab the brown bread loaf and place it inside the black pan with curved edges", + "Put the soft golden baked bread into the black pan with curved edges.", + "Use the left arm to pick the soft golden baked bread up for the round cooking pan", + "Grab the slice-shaped bread from the table and set it in the solid dark-colored round pan.", + "Take the brown bread loaf and drop it into the black skillet with smooth base.", + "Pick up the golden brown loaf-shaped bread and place it in the black pan with curved edges.", + "Grab the rectangular bread soft inside using the left arm and place it in the smooth round pan made of iron", + "Lift the golden crusted bread slice and drop it into the black pan with curved edges.", + "Transfer the bread with firm crust edges into the black skillet with smooth base from the table", + "Set the bread with firm crust edges into the heavy black cooking skillet after grabbing", + "Pick the golden brown loaf-shaped bread and transfer it to the round cooking pan" + ], + "unseen": [ + "Take the soft rectangular bread loaf and put it in the black skillet", + "Grab the bread loaf medium-sized and place it into the iron skillet for frying foods.", + "Grab the small loaf-shaped bread and drop it into the round cast-iron skillet.", + "Move the small loaf-shaped bread to the black skillet using the left arm.", + "Pick up the soft rectangular bread loaf and drop it into the black skillet", + "Use the left arm to grab the bread loaf medium-sized and set it in the round cast-iron skillet", + "Grab the bread loaf medium-sized and set it in the black skillet", + "Use the left arm to move the soft rectangular bread loaf to the round cast-iron skillet.", + "Grab the soft rectangular bread loaf and place it in the round cast-iron skillet", + "Pick the small loaf-shaped bread up and place it in the black skillet", + "Take the small loaf-shaped bread and put it in the round cast-iron skillet", + "Grab the soft rectangular bread loaf and place it into the iron skillet for frying foods.", + "Grab the bread loaf medium-sized and drop it into the iron skillet for frying foods.", + "Move the small loaf-shaped bread to the round cast-iron skillet using the left arm.", + "Pick up the small loaf-shaped bread and drop it into the round cast-iron skillet", + "Use the left arm to grab the bread loaf medium-sized and set it in the black skillet", + "Grab the bread loaf medium-sized and set it in the iron skillet for frying foods", + "Use the left arm to move the small loaf-shaped bread to the black skillet.", + "Grab the soft rectangular bread loaf and place it in the round cast-iron skillet", + "Pick the small loaf-shaped bread up and place it in the iron skillet for frying foods", + "Take the soft rectangular bread loaf and put it in the black skillet", + "Grab the bread loaf medium-sized and place it into the iron skillet for frying foods.", + "Grab the soft rectangular bread loaf and drop it into the round cast-iron skillet.", + "Move the small loaf-shaped bread to the round cast-iron skillet using the left arm.", + "Pick up the bread loaf medium-sized and drop it into the iron skillet for frying foods", + "Use the left arm to grab the bread loaf medium-sized and set it in the black skillet", + "Grab the small loaf-shaped bread and set it in the black skillet", + "Use the left arm to move the small loaf-shaped bread to the round cast-iron skillet.", + "Grab the small loaf-shaped bread and place it in the black skillet", + "Pick the small loaf-shaped bread up and place it in the black skillet", + "Take the soft rectangular bread loaf and put it in the black skillet", + "Grab the soft rectangular bread loaf and place it into the black skillet.", + "Grab the soft rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Move the soft rectangular bread loaf to the black skillet using the left arm.", + "Pick up the small loaf-shaped bread and drop it into the black skillet", + "Use the left arm to grab the small loaf-shaped bread and set it in the iron skillet for frying foods", + "Grab the soft rectangular bread loaf and set it in the iron skillet for frying foods", + "Use the left arm to move the bread loaf medium-sized to the iron skillet for frying foods.", + "Grab the small loaf-shaped bread and place it in the iron skillet for frying foods", + "Pick the small loaf-shaped bread up and place it in the round cast-iron skillet", + "Take the bread loaf medium-sized and put it in the iron skillet for frying foods", + "Grab the small loaf-shaped bread and place it into the round cast-iron skillet.", + "Grab the bread loaf medium-sized and drop it into the iron skillet for frying foods.", + "Move the soft rectangular bread loaf to the black skillet using the left arm.", + "Pick up the bread loaf medium-sized and drop it into the round cast-iron skillet", + "Use the left arm to grab the small loaf-shaped bread and set it in the iron skillet for frying foods", + "Grab the small loaf-shaped bread and set it in the iron skillet for frying foods", + "Use the left arm to move the bread loaf medium-sized to the iron skillet for frying foods.", + "Grab the small loaf-shaped bread and place it in the iron skillet for frying foods", + "Pick the bread loaf medium-sized up and place it in the iron skillet for frying foods", + "Take the bread loaf medium-sized and put it in the round cast-iron skillet", + "Grab the soft rectangular bread loaf and place it into the round cast-iron skillet.", + "Grab the small loaf-shaped bread and drop it into the black skillet.", + "Move the small loaf-shaped bread to the round cast-iron skillet using the left arm.", + "Pick up the bread loaf medium-sized and drop it into the iron skillet for frying foods", + "Use the left arm to grab the soft rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the small loaf-shaped bread and set it in the round cast-iron skillet", + "Use the left arm to move the small loaf-shaped bread to the black skillet.", + "Grab the small loaf-shaped bread and place it in the black skillet", + "Pick the soft rectangular bread loaf up and place it in the round cast-iron skillet", + "Take the soft rectangular bread loaf and put it in the round cast-iron skillet", + "Grab the small loaf-shaped bread and place it into the iron skillet for frying foods.", + "Grab the soft rectangular bread loaf and drop it into the black skillet.", + "Move the small loaf-shaped bread to the black skillet using the left arm.", + "Pick up the small loaf-shaped bread and drop it into the black skillet", + "Use the left arm to grab the small loaf-shaped bread and set it in the round cast-iron skillet", + "Grab the bread loaf medium-sized and set it in the black skillet", + "Use the left arm to move the bread loaf medium-sized to the round cast-iron skillet.", + "Grab the small loaf-shaped bread and place it in the black skillet", + "Pick the bread loaf medium-sized up and place it in the black skillet", + "Take the soft rectangular bread loaf and put it in the black skillet", + "Grab the soft rectangular bread loaf and place it into the black skillet.", + "Grab the soft rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Move the small loaf-shaped bread to the round cast-iron skillet using the left arm.", + "Pick up the soft rectangular bread loaf and drop it into the black skillet", + "Use the left arm to grab the small loaf-shaped bread and set it in the black skillet", + "Grab the soft rectangular bread loaf and set it in the round cast-iron skillet", + "Use the left arm to move the bread loaf medium-sized to the round cast-iron skillet.", + "Grab the soft rectangular bread loaf and place it in the black skillet", + "Pick the small loaf-shaped bread up and place it in the round cast-iron skillet", + "Take the bread loaf medium-sized and put it in the iron skillet for frying foods", + "Grab the small loaf-shaped bread and place it into the iron skillet for frying foods.", + "Grab the small loaf-shaped bread and drop it into the round cast-iron skillet.", + "Move the small loaf-shaped bread to the iron skillet for frying foods using the left arm.", + "Pick up the bread loaf medium-sized and drop it into the iron skillet for frying foods", + "Use the left arm to grab the bread loaf medium-sized and set it in the iron skillet for frying foods", + "Grab the soft rectangular bread loaf and set it in the iron skillet for frying foods", + "Use the left arm to move the soft rectangular bread loaf to the black skillet.", + "Grab the small loaf-shaped bread and place it in the round cast-iron skillet", + "Pick the small loaf-shaped bread up and place it in the iron skillet for frying foods", + "Take the soft rectangular bread loaf and put it in the round cast-iron skillet", + "Grab the soft rectangular bread loaf and place it into the black skillet.", + "Grab the bread loaf medium-sized and drop it into the black skillet.", + "Move the small loaf-shaped bread to the round cast-iron skillet using the left arm.", + "Pick up the bread loaf medium-sized and drop it into the black skillet", + "Use the left arm to grab the small loaf-shaped bread and set it in the round cast-iron skillet", + "Grab the bread loaf medium-sized and set it in the round cast-iron skillet", + "Use the left arm to move the soft rectangular bread loaf to the black skillet.", + "Grab the small loaf-shaped bread and place it in the iron skillet for frying foods", + "Pick the bread loaf medium-sized up and place it in the round cast-iron skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode16.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..50e5ebc8fbc90c496d4bb067802c3a61969889ca --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to move the golden bread loaf and set it into the black skillet.", + "Grab the bread loaf with uneven edges and stick it in the skillet with sturdy material.", + "Move the bread loaf with uneven edges into the black skillet for frying foods from the table", + "Use the left arm to pick the soft bread up for the pan-shaped black skillet", + "Grab the square-shaped bread with the left arm and place in the black skillet for frying foods", + "Pick the golden bread with the left arm and set it in the heavy cast iron skillet", + "Grab the golden bread and place it inside the skillet with sturdy material.", + "Set the bread loaf with uneven edges into the pan-shaped black skillet after grabbing", + "Pick the bread loaf with bumpy surface up using the left arm and drop it in the skillet with looped handle.", + "Grab the bread loaf with uneven edges and drop it into the black iron skillet for cooking", + "Use the left arm to set the bread loaf with bumpy surface into the black skillet for frying foods.", + "Use the left arm to place the bread with rough texture into the skillet with wide round base", + "Pick the cuboid bread and set it into the black skillet for frying foods.", + "Lift the hand-sized bread block and drop it into the flat-bottomed black cast iron skillet", + "Use the left arm to grab the doughy and soft bread for the skillet with wide round base", + "Take the bread block with light patches off the table into the black skillet for frying foods", + "Pick the hand-sized bread block and transfer it to the skillet with wide round base", + "Take the bread block with light patches and place it inside the black cooking tool skillet", + "Take the light golden brown bread and place it inside the black skillet for frying foods", + "Place the doughy and soft bread into the heavy cast iron skillet using the left arm", + "Move the light golden brown bread to the skillet with sturdy material using the left arm", + "Place the bread loaf with uneven edges from the table into the pan-shaped black skillet", + "Grab the light golden brown bread from the table and set it in the black iron skillet for cooking.", + "Use the left arm to pick the cuboid bread for the skillet with wide round base", + "Grab the soft bread using the left arm and place it in the skillet with sturdy material", + "Pick up the square-shaped bread and put it in the skillet with looped handle", + "Lift the hand-sized bread block and drop it into the black skillet.", + "Place the square-shaped bread into the black cooking tool skillet with the left arm.", + "Use the left arm to lift the light golden brown bread and place it into the heavy cast iron skillet.", + "Use the left arm to grab the cuboid bread for the medium skillet with rough outside", + "Put the bread loaf with bumpy surface into the black cooking tool skillet.", + "Move the hand-sized bread block from table into the black skillet", + "Put the bread loaf with uneven edges into the heavy cast iron skillet after grabbing it", + "Pick the hand-sized bread block off the table and place it in the black iron skillet for cooking.", + "Take the light golden brown bread with the left arm and drop into the black skillet with long handle", + "Take the cuboid bread and put it in the black skillet with long handle.", + "Grab the doughy and soft bread and place it inside the black skillet for frying foods", + "Take the bread loaf with uneven edges and drop it into the flat-bottomed black cast iron skillet.", + "Use the left arm to stick the bread loaf with uneven edges into the pan-shaped black skillet.", + "Take the golden bread and set it into the heavy cast iron skillet", + "Take the square-shaped bread and put it in the black cooking tool skillet.", + "Pick up the bread loaf with bumpy surface with the left arm and drop it in the black skillet for frying foods", + "Use the left arm to take the light golden brown bread and move it into the medium skillet with rough outside.", + "Use the left arm to move the bread loaf with bumpy surface into the black skillet with long handle", + "Transfer the hand-sized bread block into the black skillet from the table", + "Lift the bread loaf with bumpy surface using the left arm and move it to the heavy cast iron skillet", + "Use the left arm to pick the golden bread loaf and put it in the flat-bottomed black cast iron skillet", + "Pick up the golden bread and place it in the medium skillet with rough outside.", + "Use the left arm to grab the bread loaf with bumpy surface and set it in the black skillet for frying foods.", + "Use the left arm to pick the bread loaf with bumpy surface and place it into the skillet with wide round base.", + "Use the left arm to move the square-shaped bread and set it into the black cooking tool skillet.", + "Grab the soft bread and stick it in the skillet with sturdy material.", + "Move the doughy and soft bread into the heavy cast iron skillet from the table", + "Use the left arm to pick the light golden brown bread up for the skillet with sturdy material", + "Grab the cuboid bread with the left arm and place in the flat-bottomed black cast iron skillet", + "Pick the cuboid bread with the left arm and set it in the flat-bottomed black cast iron skillet", + "Grab the hand-sized bread block and place it inside the skillet with looped handle.", + "Set the light golden brown bread into the skillet with sturdy material after grabbing", + "Pick the doughy and soft bread up using the left arm and drop it in the black iron skillet for cooking.", + "Grab the bread loaf with uneven edges and drop it into the heavy cast iron skillet", + "Use the left arm to set the hand-sized bread block into the flat-bottomed black cast iron skillet.", + "Use the left arm to place the golden bread into the skillet with looped handle", + "Pick the bread loaf with bumpy surface and set it into the black cooking tool skillet.", + "Lift the soft bread and drop it into the flat-bottomed black cast iron skillet", + "Use the left arm to grab the square-shaped bread for the heavy cast iron skillet", + "Take the bread block with light patches off the table into the heavy cast iron skillet", + "Pick the soft bread and transfer it to the black skillet", + "Take the light golden brown bread and place it inside the medium skillet with rough outside", + "Take the soft bread and place it inside the pan-shaped black skillet", + "Place the bread loaf with uneven edges into the black skillet for frying foods using the left arm", + "Move the bread with rough texture to the black skillet with long handle using the left arm", + "Place the light golden brown bread from the table into the heavy cast iron skillet", + "Grab the bread loaf with bumpy surface from the table and set it in the skillet with sturdy material.", + "Use the left arm to pick the bread block with light patches for the medium skillet with rough outside", + "Grab the hand-sized bread block using the left arm and place it in the black iron skillet for cooking", + "Pick up the hand-sized bread block and put it in the flat-bottomed black cast iron skillet", + "Lift the cuboid bread and drop it into the black skillet with long handle.", + "Place the doughy and soft bread into the black skillet with long handle with the left arm.", + "Use the left arm to lift the bread with rough texture and place it into the black skillet.", + "Use the left arm to grab the light golden brown bread for the skillet with looped handle", + "Put the hand-sized bread block into the black skillet.", + "Move the bread with rough texture from table into the black skillet", + "Put the cuboid bread into the skillet with looped handle after grabbing it", + "Pick the doughy and soft bread off the table and place it in the black skillet for frying foods.", + "Take the bread loaf with bumpy surface with the left arm and drop into the black skillet with long handle", + "Take the hand-sized bread block and put it in the skillet with wide round base.", + "Grab the soft bread and place it inside the skillet with wide round base", + "Take the bread loaf with uneven edges and drop it into the black skillet for frying foods.", + "Use the left arm to stick the golden bread into the skillet with looped handle.", + "Take the hand-sized bread block and set it into the black skillet with long handle", + "Take the golden bread and put it in the black iron skillet for cooking.", + "Pick up the bread loaf with bumpy surface with the left arm and drop it in the black skillet for frying foods", + "Use the left arm to take the golden bread loaf and move it into the pan-shaped black skillet.", + "Use the left arm to move the cuboid bread into the heavy cast iron skillet", + "Transfer the bread with rough texture into the black cooking tool skillet from the table", + "Lift the golden bread loaf using the left arm and move it to the heavy cast iron skillet", + "Use the left arm to pick the soft bread and put it in the skillet with wide round base", + "Pick up the bread block with light patches and place it in the skillet with looped handle.", + "Use the left arm to grab the bread loaf with uneven edges and set it in the skillet with looped handle.", + "Use the left arm to pick the bread with rough texture and place it into the black skillet." + ], + "unseen": [ + "Move the bread with golden crust to the smooth interior skillet using the left arm.", + "Grab the rectangular bread loaf and place it in the round black skillet", + "Pick up the rectangular bread loaf and drop it into the medium black frying skillet", + "Use the left arm to move the bread loaf with soft surface to the round black skillet.", + "Grab the bread with golden crust and set it in the round black skillet", + "Take the bread with golden crust and put it in the medium black frying skillet", + "Pick the bread loaf with soft surface up and place it in the smooth interior skillet", + "Grab the bread loaf with soft surface and place it into the smooth interior skillet.", + "Grab the bread loaf with soft surface and drop it into the smooth interior skillet.", + "Use the left arm to grab the bread loaf with soft surface and set it in the smooth interior skillet", + "Move the bread with golden crust to the round black skillet using the left arm.", + "Grab the bread with golden crust and place it in the round black skillet", + "Pick up the bread loaf with soft surface and drop it into the round black skillet", + "Use the left arm to move the bread loaf with soft surface to the medium black frying skillet.", + "Grab the rectangular bread loaf and set it in the round black skillet", + "Take the bread loaf with soft surface and put it in the smooth interior skillet", + "Pick the rectangular bread loaf up and place it in the medium black frying skillet", + "Grab the bread with golden crust and place it into the smooth interior skillet.", + "Grab the rectangular bread loaf and drop it into the round black skillet.", + "Use the left arm to grab the rectangular bread loaf and set it in the smooth interior skillet", + "Move the rectangular bread loaf to the round black skillet using the left arm.", + "Grab the bread with golden crust and place it in the medium black frying skillet", + "Pick up the bread loaf with soft surface and drop it into the round black skillet", + "Use the left arm to move the rectangular bread loaf to the round black skillet.", + "Grab the bread with golden crust and set it in the medium black frying skillet", + "Take the rectangular bread loaf and put it in the medium black frying skillet", + "Pick the bread loaf with soft surface up and place it in the smooth interior skillet", + "Grab the rectangular bread loaf and place it into the round black skillet.", + "Grab the bread with golden crust and drop it into the medium black frying skillet.", + "Use the left arm to grab the bread loaf with soft surface and set it in the smooth interior skillet", + "Move the bread with golden crust to the round black skillet using the left arm.", + "Grab the rectangular bread loaf and place it in the smooth interior skillet", + "Pick up the bread loaf with soft surface and drop it into the medium black frying skillet", + "Use the left arm to move the rectangular bread loaf to the smooth interior skillet.", + "Grab the bread with golden crust and set it in the smooth interior skillet", + "Take the rectangular bread loaf and put it in the smooth interior skillet", + "Pick the bread loaf with soft surface up and place it in the smooth interior skillet", + "Grab the bread loaf with soft surface and place it into the medium black frying skillet.", + "Grab the bread loaf with soft surface and drop it into the medium black frying skillet.", + "Use the left arm to grab the bread loaf with soft surface and set it in the round black skillet", + "Move the bread with golden crust to the smooth interior skillet using the left arm.", + "Grab the rectangular bread loaf and place it in the medium black frying skillet", + "Pick up the rectangular bread loaf and drop it into the round black skillet", + "Use the left arm to move the rectangular bread loaf to the smooth interior skillet.", + "Grab the bread loaf with soft surface and set it in the smooth interior skillet", + "Take the bread with golden crust and put it in the medium black frying skillet", + "Pick the bread loaf with soft surface up and place it in the smooth interior skillet", + "Grab the bread with golden crust and place it into the medium black frying skillet.", + "Grab the bread with golden crust and drop it into the round black skillet.", + "Use the left arm to grab the bread loaf with soft surface and set it in the smooth interior skillet", + "Move the bread with golden crust to the round black skillet using the left arm.", + "Grab the bread with golden crust and place it in the medium black frying skillet", + "Pick up the bread with golden crust and drop it into the round black skillet", + "Use the left arm to move the rectangular bread loaf to the smooth interior skillet.", + "Grab the bread with golden crust and set it in the medium black frying skillet", + "Take the bread with golden crust and put it in the smooth interior skillet", + "Pick the rectangular bread loaf up and place it in the round black skillet", + "Grab the rectangular bread loaf and place it into the round black skillet.", + "Grab the bread loaf with soft surface and drop it into the medium black frying skillet.", + "Use the left arm to grab the bread loaf with soft surface and set it in the smooth interior skillet", + "Move the bread loaf with soft surface to the round black skillet using the left arm.", + "Grab the bread loaf with soft surface and place it in the smooth interior skillet", + "Pick up the bread with golden crust and drop it into the round black skillet", + "Use the left arm to move the rectangular bread loaf to the medium black frying skillet.", + "Grab the bread with golden crust and set it in the smooth interior skillet", + "Take the rectangular bread loaf and put it in the smooth interior skillet", + "Pick the bread with golden crust up and place it in the medium black frying skillet", + "Grab the rectangular bread loaf and place it into the medium black frying skillet.", + "Grab the bread with golden crust and drop it into the smooth interior skillet.", + "Use the left arm to grab the bread loaf with soft surface and set it in the smooth interior skillet", + "Move the bread loaf with soft surface to the round black skillet using the left arm.", + "Grab the bread with golden crust and place it in the medium black frying skillet", + "Pick up the bread with golden crust and drop it into the smooth interior skillet", + "Use the left arm to move the bread with golden crust to the smooth interior skillet.", + "Grab the bread with golden crust and set it in the round black skillet", + "Take the rectangular bread loaf and put it in the medium black frying skillet", + "Pick the bread loaf with soft surface up and place it in the round black skillet", + "Grab the bread with golden crust and place it into the round black skillet.", + "Grab the bread with golden crust and drop it into the medium black frying skillet.", + "Use the left arm to grab the bread with golden crust and set it in the smooth interior skillet", + "Move the bread with golden crust to the round black skillet using the left arm.", + "Grab the rectangular bread loaf and place it in the smooth interior skillet", + "Pick up the rectangular bread loaf and drop it into the medium black frying skillet", + "Use the left arm to move the bread with golden crust to the medium black frying skillet.", + "Grab the rectangular bread loaf and set it in the round black skillet", + "Take the bread loaf with soft surface and put it in the round black skillet", + "Pick the bread with golden crust up and place it in the smooth interior skillet", + "Grab the rectangular bread loaf and place it into the medium black frying skillet.", + "Grab the rectangular bread loaf and drop it into the medium black frying skillet.", + "Use the left arm to grab the bread with golden crust and set it in the round black skillet", + "Move the bread loaf with soft surface to the round black skillet using the left arm.", + "Grab the bread loaf with soft surface and place it in the smooth interior skillet", + "Pick up the bread with golden crust and drop it into the medium black frying skillet", + "Use the left arm to move the bread loaf with soft surface to the medium black frying skillet.", + "Grab the rectangular bread loaf and set it in the medium black frying skillet", + "Take the rectangular bread loaf and put it in the round black skillet", + "Pick the rectangular bread loaf up and place it in the smooth interior skillet", + "Grab the bread loaf with soft surface and place it into the smooth interior skillet.", + "Grab the bread loaf with soft surface and drop it into the medium black frying skillet.", + "Use the left arm to grab the bread loaf with soft surface and set it in the medium black frying skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode17.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..8864db65fec953faf2271fe8238a1c2df0dc9f5e --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to take the soft brown bread and move it into the medium skillet.", + "Put the small golden brown bread into the dark gray skillet after grabbing it", + "Use the left arm to grab the brown loaf for the dark gray skillet", + "Pick the hand-sized oval loaf and set it into the round skillet with handle.", + "Transfer the smooth loaf with rounded edges into the round skillet with handle from the table", + "Lift the bread with split top and drop it into the dark gray skillet.", + "Set the light brown bread with ridges into the gray cooking pan with handle after grabbing", + "Pick the small loaf with curved top with the left arm and set it in the gray pan", + "Lift the small loaf with curved top and drop it into the skillet for cooking", + "Take the golden bread loaf off the table into the round skillet with handle", + "Use the left arm to pick the small golden brown bread and put it in the pan with dark finish", + "Move the brown loaf into the hefty black skillet from the table", + "Grab the brown loaf and stick it in the round skillet with handle.", + "Grab the soft brown bread from the table and set it in the gray cooking pan with handle.", + "Pick the bread with golden-brown crust and transfer it to the smooth round cooking skillet", + "Grab the bread with warm golden color and place it inside the rounded skillet with a holey handle.", + "Use the left arm to grab the small golden brown bread and set it in the round skillet with handle.", + "Pick the bread with golden-brown crust off the table and place it in the hefty black skillet.", + "Take the small loaf with curved top and put it in the medium skillet.", + "Move the golden bread loaf from table into the pan with dark finish", + "Use the left arm to pick the brown loaf up for the round skillet with handle", + "Take the bread with golden-brown crust and place it inside the hefty black skillet", + "Take the soft brown bread and drop it into the round skillet with handle.", + "Move the light brown loaf with smooth sides to the medium round cast iron skillet using the left arm", + "Place the soft brown bread into the skillet for cooking with the left arm.", + "Use the left arm to move the small loaf with curved top and set it into the skillet for cooking.", + "Use the left arm to grab the smooth loaf with rounded edges for the gray cooking pan with handle", + "Take the small loaf with curved top with the left arm and drop into the gray pan", + "Use the left arm to move the small loaf with curved top into the hefty black skillet", + "Pick up the smooth loaf with rounded edges and place it in the hefty black skillet.", + "Use the left arm to set the light brown bread with ridges into the round skillet with handle.", + "Place the brown loaf from the table into the rounded skillet with a holey handle", + "Pick up the bread with golden-brown crust with the left arm and drop it in the hefty black skillet", + "Use the left arm to stick the small golden brown bread into the hefty black skillet.", + "Use the left arm to lift the bread with warm golden color and place it into the medium round cast iron skillet.", + "Pick up the bread with warm golden color and put it in the smooth round cooking skillet", + "Grab the soft brown bread and drop it into the dark gray skillet", + "Use the left arm to pick the hand-sized oval loaf for the round skillet with handle", + "Grab the bread with warm golden color using the left arm and place it in the dark gray skillet", + "Lift the bread with warm golden color using the left arm and move it to the rounded skillet with a holey handle", + "Take the light brown loaf with smooth sides and set it into the smooth cast iron skillet", + "Take the smooth loaf with rounded edges and place it inside the smooth round cooking skillet", + "Put the hand-sized oval loaf into the rounded skillet with a holey handle.", + "Use the left arm to pick the bread with golden-brown crust and place it into the smooth cast iron skillet.", + "Use the left arm to place the hand-sized oval loaf into the rounded skillet with a holey handle", + "Place the golden bread loaf into the round skillet with handle using the left arm", + "Grab the bread with warm golden color with the left arm and place in the hefty black skillet", + "Grab the hand-sized oval loaf and place it inside the smooth cast iron skillet", + "Take the brown loaf and put it in the skillet for cooking.", + "Pick the brown loaf up using the left arm and drop it in the gray cooking pan with handle.", + "Use the left arm to take the smooth loaf with rounded edges and move it into the smooth round cooking skillet.", + "Put the hand-sized oval loaf into the smooth round cooking skillet after grabbing it", + "Use the left arm to grab the soft brown bread for the rounded skillet with a holey handle", + "Pick the light brown loaf with smooth sides and set it into the medium round cast iron skillet.", + "Transfer the hand-sized oval loaf into the pan with dark finish from the table", + "Lift the hand-sized oval loaf and drop it into the dark gray skillet.", + "Set the smooth loaf with rounded edges into the smooth cast iron skillet after grabbing", + "Pick the light brown loaf with smooth sides with the left arm and set it in the medium skillet", + "Lift the soft brown bread and drop it into the gray cooking pan with handle", + "Take the bread with golden-brown crust off the table into the rounded skillet with a holey handle", + "Use the left arm to pick the light brown loaf with smooth sides and put it in the pan with dark finish", + "Move the smooth loaf with rounded edges into the medium skillet from the table", + "Grab the smooth loaf with rounded edges and stick it in the smooth cast iron skillet.", + "Grab the golden bread loaf from the table and set it in the gray pan.", + "Pick the smooth loaf with rounded edges and transfer it to the rounded skillet with a holey handle", + "Grab the golden bread loaf and place it inside the smooth round cooking skillet.", + "Use the left arm to grab the bread with golden-brown crust and set it in the pan with dark finish.", + "Pick the hand-sized oval loaf off the table and place it in the pan with dark finish.", + "Take the soft brown bread and put it in the round skillet with handle.", + "Move the light brown loaf with smooth sides from table into the hefty black skillet", + "Use the left arm to pick the brown loaf up for the medium round cast iron skillet", + "Take the smooth loaf with rounded edges and place it inside the gray pan", + "Take the bread with warm golden color and drop it into the medium round cast iron skillet.", + "Move the light brown loaf with smooth sides to the medium round cast iron skillet using the left arm", + "Place the smooth loaf with rounded edges into the smooth round cooking skillet with the left arm.", + "Use the left arm to move the light brown bread with ridges and set it into the medium round cast iron skillet.", + "Use the left arm to grab the bread with split top for the pan with dark finish", + "Take the bread with split top with the left arm and drop into the medium round cast iron skillet", + "Use the left arm to move the bread with golden-brown crust into the smooth round cooking skillet", + "Pick up the small loaf with curved top and place it in the gray cooking pan with handle.", + "Use the left arm to set the bread with warm golden color into the medium round cast iron skillet.", + "Place the bread with warm golden color from the table into the gray pan", + "Pick up the light brown loaf with smooth sides with the left arm and drop it in the hefty black skillet", + "Use the left arm to stick the brown loaf into the hefty black skillet.", + "Use the left arm to lift the soft brown bread and place it into the round skillet with handle.", + "Pick up the bread with golden-brown crust and put it in the pan with dark finish", + "Grab the small golden brown bread and drop it into the smooth round cooking skillet", + "Use the left arm to pick the smooth loaf with rounded edges for the dark gray skillet", + "Grab the golden bread loaf using the left arm and place it in the gray pan", + "Lift the brown loaf using the left arm and move it to the medium round cast iron skillet", + "Take the golden bread loaf and set it into the pan with dark finish", + "Take the small golden brown bread and place it inside the gray pan", + "Put the small golden brown bread into the gray pan.", + "Use the left arm to pick the golden bread loaf and place it into the smooth round cooking skillet.", + "Use the left arm to place the bread with golden-brown crust into the smooth round cooking skillet", + "Place the light brown loaf with smooth sides into the medium skillet using the left arm", + "Grab the hand-sized oval loaf with the left arm and place in the hefty black skillet", + "Grab the light brown loaf with smooth sides and place it inside the gray cooking pan with handle", + "Take the light brown loaf with smooth sides and put it in the round skillet with handle.", + "Pick the hand-sized oval loaf up using the left arm and drop it in the rounded skillet with a holey handle." + ], + "unseen": [ + "Pick the rounded oval bread up and place it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and drop it into the blackish-gray cast iron skillet.", + "Grab the oval bread and set it in the cooking skillet with grippy handle", + "Take the oval-shaped soft bread and put it in the cooking skillet with grippy handle", + "Move the oval bread to the blackish-gray cast iron skillet using the left arm.", + "Grab the oval bread and place it into the dark gray round cast iron pan.", + "Use the left arm to move the oval bread to the blackish-gray cast iron skillet.", + "Use the left arm to grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and place it in the blackish-gray cast iron skillet", + "Pick up the oval-shaped soft bread and drop it into the dark gray round cast iron pan", + "Pick the oval bread up and place it in the blackish-gray cast iron skillet", + "Grab the oval bread and drop it into the cooking skillet with grippy handle.", + "Grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Take the rounded oval bread and put it in the dark gray round cast iron pan", + "Move the oval-shaped soft bread to the dark gray round cast iron pan using the left arm.", + "Grab the oval bread and place it into the cooking skillet with grippy handle.", + "Use the left arm to move the oval-shaped soft bread to the cooking skillet with grippy handle.", + "Use the left arm to grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Grab the oval bread and place it in the cooking skillet with grippy handle", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Grab the oval bread and drop it into the blackish-gray cast iron skillet.", + "Grab the oval bread and set it in the dark gray round cast iron pan", + "Take the rounded oval bread and put it in the cooking skillet with grippy handle", + "Move the oval-shaped soft bread to the cooking skillet with grippy handle using the left arm.", + "Grab the oval bread and place it into the cooking skillet with grippy handle.", + "Use the left arm to move the oval bread to the dark gray round cast iron pan.", + "Use the left arm to grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it in the cooking skillet with grippy handle", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Pick the rounded oval bread up and place it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and drop it into the dark gray round cast iron pan.", + "Grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Take the oval bread and put it in the cooking skillet with grippy handle", + "Move the oval bread to the blackish-gray cast iron skillet using the left arm.", + "Grab the oval bread and place it into the blackish-gray cast iron skillet.", + "Use the left arm to move the oval bread to the blackish-gray cast iron skillet.", + "Use the left arm to grab the oval-shaped soft bread and set it in the dark gray round cast iron pan", + "Grab the rounded oval bread and place it in the blackish-gray cast iron skillet", + "Pick up the oval-shaped soft bread and drop it into the cooking skillet with grippy handle", + "Pick the oval-shaped soft bread up and place it in the dark gray round cast iron pan", + "Grab the rounded oval bread and drop it into the dark gray round cast iron pan.", + "Grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Take the oval bread and put it in the dark gray round cast iron pan", + "Move the oval-shaped soft bread to the blackish-gray cast iron skillet using the left arm.", + "Grab the oval bread and place it into the dark gray round cast iron pan.", + "Use the left arm to move the oval bread to the blackish-gray cast iron skillet.", + "Use the left arm to grab the oval-shaped soft bread and set it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and place it in the cooking skillet with grippy handle", + "Pick up the oval-shaped soft bread and drop it into the dark gray round cast iron pan", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and drop it into the cooking skillet with grippy handle.", + "Grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Take the oval bread and put it in the dark gray round cast iron pan", + "Move the rounded oval bread to the dark gray round cast iron pan using the left arm.", + "Grab the oval-shaped soft bread and place it into the dark gray round cast iron pan.", + "Use the left arm to move the oval-shaped soft bread to the cooking skillet with grippy handle.", + "Use the left arm to grab the oval bread and set it in the dark gray round cast iron pan", + "Grab the rounded oval bread and place it in the dark gray round cast iron pan", + "Pick up the oval bread and drop it into the dark gray round cast iron pan", + "Pick the rounded oval bread up and place it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and drop it into the cooking skillet with grippy handle.", + "Grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Take the oval-shaped soft bread and put it in the dark gray round cast iron pan", + "Move the oval-shaped soft bread to the dark gray round cast iron pan using the left arm.", + "Grab the oval bread and place it into the blackish-gray cast iron skillet.", + "Use the left arm to move the rounded oval bread to the cooking skillet with grippy handle.", + "Use the left arm to grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Grab the oval bread and place it in the cooking skillet with grippy handle", + "Pick up the oval bread and drop it into the cooking skillet with grippy handle", + "Pick the oval-shaped soft bread up and place it in the dark gray round cast iron pan", + "Grab the oval bread and drop it into the cooking skillet with grippy handle.", + "Grab the oval bread and set it in the blackish-gray cast iron skillet", + "Take the rounded oval bread and put it in the blackish-gray cast iron skillet", + "Move the rounded oval bread to the blackish-gray cast iron skillet using the left arm.", + "Grab the rounded oval bread and place it into the blackish-gray cast iron skillet.", + "Use the left arm to move the oval-shaped soft bread to the cooking skillet with grippy handle.", + "Use the left arm to grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and place it in the dark gray round cast iron pan", + "Pick up the oval bread and drop it into the dark gray round cast iron pan", + "Pick the oval bread up and place it in the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet.", + "Grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Take the oval bread and put it in the blackish-gray cast iron skillet", + "Move the rounded oval bread to the dark gray round cast iron pan using the left arm.", + "Grab the oval-shaped soft bread and place it into the cooking skillet with grippy handle.", + "Use the left arm to move the oval bread to the blackish-gray cast iron skillet.", + "Use the left arm to grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Grab the oval bread and place it in the dark gray round cast iron pan", + "Pick up the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet", + "Pick the rounded oval bread up and place it in the dark gray round cast iron pan", + "Grab the rounded oval bread and drop it into the dark gray round cast iron pan.", + "Grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Take the oval-shaped soft bread and put it in the blackish-gray cast iron skillet", + "Move the oval-shaped soft bread to the dark gray round cast iron pan using the left arm.", + "Grab the oval bread and place it into the dark gray round cast iron pan.", + "Use the left arm to move the rounded oval bread to the cooking skillet with grippy handle.", + "Use the left arm to grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and place it in the cooking skillet with grippy handle", + "Pick up the rounded oval bread and drop it into the cooking skillet with grippy handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode18.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..0e68e70c289994d7cadcea02a5d259b9b5b21a9b --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to move the golden crusted bread slice and set it into the flat-bottom skillet.", + "Use the left arm to pick the slice-shaped bread and place it into the skillet with black cooking surface.", + "Move the golden bread to the metal skillet using the left arm", + "Move the square loaf of bread into the dark gray skillet from the table", + "Use the left arm to grab the slice-shaped bread and set it in the flat-bottom skillet.", + "Use the left arm to stick the golden crusted bread slice into the metal skillet with comfortable grip.", + "Set the slice-shaped bread into the medium-sized frying skillet after grabbing", + "Pick up the golden crusted bread slice and place it in the round skillet with open handle end.", + "Use the left arm to take the bread with firm crust edges and move it into the metal skillet with comfortable grip.", + "Put the golden bread into the round skillet with handle after grabbing it", + "Pick the bread with rounded corners off the table and place it in the metal skillet.", + "Transfer the slice-shaped bread into the smooth non-stick skillet from the table", + "Take the golden brown loaf-shaped bread off the table into the black-surfaced skillet with gray sides", + "Use the left arm to set the golden brown loaf-shaped bread into the flat-bottom skillet.", + "Grab the bread with golden surface color and stick it in the round skillet with open handle end.", + "Use the left arm to lift the square loaf of bread and place it into the metal skillet with comfortable grip.", + "Use the left arm to place the bread with golden surface color into the gray skillet for stovetop cooking", + "Take the golden bread and put it in the medium-sized frying skillet.", + "Pick the brown bread loaf and transfer it to the round skillet with handle", + "Grab the square loaf of bread using the left arm and place it in the dark gray skillet", + "Pick the bread with rounded corners with the left arm and set it in the round skillet with open handle end", + "Pick up the golden crusted bread slice and put it in the metal skillet", + "Grab the square loaf of bread with the left arm and place in the smooth non-stick skillet", + "Pick up the bread with firm crust edges with the left arm and drop it in the medium-sized frying skillet", + "Take the golden crusted bread slice and set it into the flat-bottom skillet", + "Take the slice-shaped bread with the left arm and drop into the skillet for frying food", + "Grab the square loaf of bread from the table and set it in the dark gray skillet.", + "Use the left arm to pick the brown bread loaf for the skillet for frying food", + "Take the slice-shaped bread and place it inside the round skillet with open handle end", + "Take the golden bread and put it in the medium-sized frying skillet.", + "Move the golden bread from table into the gray skillet for stovetop cooking", + "Lift the golden bread using the left arm and move it to the black-surfaced skillet with gray sides", + "Take the bread with rounded corners and place it inside the skillet for frying food", + "Use the left arm to pick the square loaf of bread and put it in the round skillet with open handle end", + "Use the left arm to pick the golden crusted bread slice up for the skillet for frying food", + "Put the bread with golden surface color into the skillet with black cooking surface.", + "Place the slice-shaped bread from the table into the skillet for frying food", + "Lift the slice-shaped bread and drop it into the flat-bottom skillet", + "Grab the golden bread and place it inside the dark gray skillet.", + "Place the brown bread loaf into the skillet with black cooking surface with the left arm.", + "Pick the square loaf of bread and set it into the black-surfaced skillet with gray sides.", + "Use the left arm to grab the golden bread for the round skillet with handle", + "Lift the soft golden baked bread and drop it into the black-surfaced skillet with gray sides.", + "Place the square loaf of bread into the flat-bottom skillet using the left arm", + "Use the left arm to grab the bread loaf with square shape for the dark gray skillet", + "Grab the bread with rounded corners and place it inside the skillet for frying food", + "Use the left arm to move the bread loaf with square shape into the black-surfaced skillet with gray sides", + "Grab the square loaf of bread and drop it into the medium-sized frying skillet", + "Take the square loaf of bread and drop it into the smooth non-stick skillet.", + "Pick the bread loaf with square shape up using the left arm and drop it in the smooth non-stick skillet.", + "Use the left arm to move the rectangular bread soft inside and set it into the medium-sized frying skillet.", + "Use the left arm to pick the bread with firm crust edges and place it into the medium-sized frying skillet.", + "Move the square loaf of bread to the skillet with black cooking surface using the left arm", + "Move the bread loaf with square shape into the skillet with black cooking surface from the table", + "Use the left arm to grab the golden bread and set it in the round skillet with handle.", + "Use the left arm to stick the bread with firm crust edges into the metal skillet with comfortable grip.", + "Set the bread with golden surface color into the medium-sized frying skillet after grabbing", + "Pick up the golden crusted bread slice and place it in the smooth non-stick skillet.", + "Use the left arm to take the bread with firm crust edges and move it into the gray skillet for stovetop cooking.", + "Put the square loaf of bread into the metal skillet with comfortable grip after grabbing it", + "Pick the soft golden baked bread off the table and place it in the skillet with black cooking surface.", + "Transfer the rectangular bread soft inside into the round skillet with handle from the table", + "Take the slice-shaped bread off the table into the medium-sized frying skillet", + "Use the left arm to set the bread loaf with square shape into the round skillet with open handle end.", + "Grab the bread with firm crust edges and stick it in the skillet for frying food.", + "Use the left arm to lift the rectangular bread soft inside and place it into the smooth non-stick skillet.", + "Use the left arm to place the golden bread into the round skillet with handle", + "Take the golden brown loaf-shaped bread and put it in the flat-bottom skillet.", + "Pick the soft golden baked bread and transfer it to the smooth non-stick skillet", + "Grab the square loaf of bread using the left arm and place it in the round skillet with open handle end", + "Pick the bread with rounded corners with the left arm and set it in the smooth non-stick skillet", + "Pick up the bread with firm crust edges and put it in the smooth non-stick skillet", + "Grab the golden brown loaf-shaped bread with the left arm and place in the round skillet with open handle end", + "Pick up the soft golden baked bread with the left arm and drop it in the metal skillet with comfortable grip", + "Take the brown bread loaf and set it into the skillet for frying food", + "Take the slice-shaped bread with the left arm and drop into the skillet for frying food", + "Grab the bread with firm crust edges from the table and set it in the black-surfaced skillet with gray sides.", + "Use the left arm to pick the golden crusted bread slice for the skillet with black cooking surface", + "Take the brown bread loaf and place it inside the skillet for frying food", + "Take the golden bread and put it in the skillet for frying food.", + "Move the golden brown loaf-shaped bread from table into the medium-sized frying skillet", + "Lift the brown bread loaf using the left arm and move it to the metal skillet", + "Take the golden bread and place it inside the flat-bottom skillet", + "Use the left arm to pick the soft golden baked bread and put it in the black-surfaced skillet with gray sides", + "Use the left arm to pick the golden crusted bread slice up for the flat-bottom skillet", + "Put the bread with rounded corners into the black-surfaced skillet with gray sides.", + "Place the golden brown loaf-shaped bread from the table into the metal skillet with comfortable grip", + "Lift the bread loaf with square shape and drop it into the round skillet with handle", + "Grab the rectangular bread soft inside and place it inside the dark gray skillet.", + "Place the bread with rounded corners into the metal skillet with comfortable grip with the left arm.", + "Pick the square loaf of bread and set it into the round skillet with open handle end.", + "Use the left arm to grab the golden bread for the medium-sized frying skillet", + "Lift the slice-shaped bread and drop it into the round skillet with open handle end.", + "Place the bread with firm crust edges into the skillet with black cooking surface using the left arm", + "Use the left arm to grab the bread loaf with square shape for the metal skillet with comfortable grip", + "Grab the golden bread and place it inside the round skillet with open handle end", + "Use the left arm to move the golden brown loaf-shaped bread into the black-surfaced skillet with gray sides", + "Grab the soft golden baked bread and drop it into the medium-sized frying skillet", + "Take the soft golden baked bread and drop it into the gray skillet for stovetop cooking.", + "Pick the slice-shaped bread up using the left arm and drop it in the metal skillet with comfortable grip." + ], + "unseen": [ + "Move the soft rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Grab the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the bread loaf medium-sized to the dark skillet with shiny finish.", + "Pick the bread loaf medium-sized up and place it in the pan-shaped skillet with hole in handle", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and place it into the dark skillet with shiny finish.", + "Grab the bread loaf medium-sized and place it in the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick up the soft rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Move the bread loaf medium-sized to the dark skillet with shiny finish using the left arm.", + "Grab the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the bread loaf medium-sized to the pan-shaped skillet with hole in handle.", + "Pick the soft rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf medium-sized and put it in the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and place it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Move the bread loaf medium-sized to the versatile skillet for frying and sauteing using the left arm.", + "Grab the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the small loaf-shaped bread to the pan-shaped skillet with hole in handle.", + "Pick the bread loaf medium-sized up and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf medium-sized and put it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and place it into the dark skillet with shiny finish.", + "Grab the soft rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Pick up the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Move the small loaf-shaped bread to the dark skillet with shiny finish using the left arm.", + "Grab the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing.", + "Pick the bread loaf medium-sized up and place it in the versatile skillet for frying and sauteing", + "Take the soft rectangular bread loaf and put it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it into the pan-shaped skillet with hole in handle.", + "Grab the small loaf-shaped bread and place it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Pick up the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Move the soft rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Grab the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the bread loaf medium-sized to the dark skillet with shiny finish.", + "Pick the soft rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Take the bread loaf medium-sized and put it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it into the versatile skillet for frying and sauteing.", + "Grab the small loaf-shaped bread and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Move the soft rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Use the left arm to move the bread loaf medium-sized to the pan-shaped skillet with hole in handle.", + "Pick the small loaf-shaped bread up and place it in the pan-shaped skillet with hole in handle", + "Take the small loaf-shaped bread and put it in the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Grab the small loaf-shaped bread and place it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Pick up the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Move the bread loaf medium-sized to the dark skillet with shiny finish using the left arm.", + "Grab the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the soft rectangular bread loaf to the dark skillet with shiny finish.", + "Pick the bread loaf medium-sized up and place it in the dark skillet with shiny finish", + "Take the soft rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Grab the soft rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Pick up the small loaf-shaped bread and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Move the bread loaf medium-sized to the dark skillet with shiny finish using the left arm.", + "Grab the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the bread loaf medium-sized to the dark skillet with shiny finish.", + "Pick the bread loaf medium-sized up and place it in the dark skillet with shiny finish", + "Take the small loaf-shaped bread and put it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the small loaf-shaped bread and place it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick up the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Move the bread loaf medium-sized to the versatile skillet for frying and sauteing using the left arm.", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Use the left arm to move the bread loaf medium-sized to the dark skillet with shiny finish.", + "Pick the bread loaf medium-sized up and place it in the pan-shaped skillet with hole in handle", + "Take the soft rectangular bread loaf and put it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Grab the soft rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the small loaf-shaped bread to the dark skillet with shiny finish.", + "Pick the soft rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Take the small loaf-shaped bread and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and place it into the dark skillet with shiny finish.", + "Grab the soft rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Pick up the small loaf-shaped bread and drop it into the dark skillet with shiny finish", + "Use the left arm to grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode19.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..72d7d2804c406cec0345de4fc05f427ee1918104 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick the bread with golden-brown crust and put it in the round pan with hole in handle", + "Use the right arm to grab the soft brown bread for the skillet with extended grip handle", + "Grab the small golden brown bread with the right arm and place in the dark pan with sturdy grip", + "Place the light brown bread with ridges into the dark pan with sturdy grip using the right arm", + "Set the hand-sized oval loaf into the round cooking pan after grabbing", + "Use the right arm to pick the small loaf with curved top for the flat-bottomed skillet with long handle", + "Grab the brown loaf and stick it in the black skillet with smooth base.", + "Put the soft brown bread into the round cooking pan.", + "Use the right arm to set the golden bread loaf into the versatile skillet for stovetop cooking.", + "Pick up the bread with split top and place it in the flat-bottomed skillet with long handle.", + "Use the right arm to take the brown loaf and move it into the skillet with extended grip handle.", + "Use the right arm to pick the small loaf with curved top and place it into the dark pan with sturdy grip.", + "Use the right arm to grab the golden bread loaf for the heavy black cooking skillet", + "Take the soft brown bread and set it into the dark pan with sturdy grip", + "Move the smooth loaf with rounded edges from table into the round pan with hole in handle", + "Use the right arm to place the soft brown bread into the versatile skillet for stovetop cooking", + "Take the small loaf with curved top off the table into the skillet with extended grip handle", + "Take the brown loaf and put it in the black pan with curved edges.", + "Take the brown loaf and place it inside the dark pan with sturdy grip", + "Grab the light brown loaf with smooth sides and place it inside the black pan with curved edges", + "Place the small golden brown bread from the table into the medium black pan with handle", + "Move the bread with split top into the smooth round pan made of iron from the table", + "Pick up the small loaf with curved top and put it in the flat-bottomed skillet with long handle", + "Place the light brown bread with ridges into the dark pan with sturdy grip with the right arm.", + "Grab the bread with warm golden color using the right arm and place it in the flat-bottomed skillet with long handle", + "Use the right arm to move the smooth loaf with rounded edges into the black pan with curved edges", + "Use the right arm to move the soft brown bread and set it into the versatile skillet for stovetop cooking.", + "Pick the light brown bread with ridges off the table and place it in the skillet with extended grip handle.", + "Take the soft brown bread and drop it into the dark pan with sturdy grip.", + "Lift the bread with split top and drop it into the smooth round pan made of iron.", + "Pick the small loaf with curved top up using the right arm and drop it in the round pan with hole in handle.", + "Pick the soft brown bread and transfer it to the skillet with extended grip handle", + "Put the soft brown bread into the round cooking pan after grabbing it", + "Use the right arm to lift the soft brown bread and place it into the heavy black cooking skillet.", + "Move the light brown bread with ridges to the round cooking pan using the right arm", + "Pick up the smooth loaf with rounded edges with the right arm and drop it in the skillet with extended grip handle", + "Lift the hand-sized oval loaf and drop it into the solid dark-colored round pan", + "Take the bread with warm golden color with the right arm and drop into the black pan with curved edges", + "Take the smooth loaf with rounded edges and place it inside the smooth round pan made of iron", + "Grab the light brown loaf with smooth sides from the table and set it in the round cooking pan.", + "Pick the brown loaf and set it into the medium black pan with handle.", + "Pick the hand-sized oval loaf with the right arm and set it in the round pan with hole in handle", + "Lift the light brown bread with ridges using the right arm and move it to the smooth round pan made of iron", + "Grab the golden bread loaf and place it inside the medium black pan with handle.", + "Take the small loaf with curved top and put it in the heavy black cooking skillet.", + "Use the right arm to grab the smooth loaf with rounded edges and set it in the skillet with extended grip handle.", + "Transfer the light brown bread with ridges into the round pan with hole in handle from the table", + "Use the right arm to pick the hand-sized oval loaf up for the dark pan with sturdy grip", + "Grab the smooth loaf with rounded edges and drop it into the heavy black cooking skillet", + "Use the right arm to stick the smooth loaf with rounded edges into the black skillet with smooth base.", + "Use the right arm to pick the smooth loaf with rounded edges and put it in the flat-bottomed skillet with long handle", + "Use the right arm to grab the brown loaf for the smooth round pan made of iron", + "Grab the bread with split top with the right arm and place in the medium black pan with handle", + "Place the bread with golden-brown crust into the black pan with curved edges using the right arm", + "Set the bread with split top into the medium black pan with handle after grabbing", + "Use the right arm to pick the hand-sized oval loaf for the black pan with curved edges", + "Grab the soft brown bread and stick it in the versatile skillet for stovetop cooking.", + "Put the smooth loaf with rounded edges into the black pan with curved edges.", + "Use the right arm to set the light brown bread with ridges into the heavy black cooking skillet.", + "Pick up the light brown loaf with smooth sides and place it in the solid dark-colored round pan.", + "Use the right arm to take the small golden brown bread and move it into the flat-bottomed skillet with long handle.", + "Use the right arm to pick the small loaf with curved top and place it into the flat-bottomed skillet with long handle.", + "Use the right arm to grab the small loaf with curved top for the medium black pan with handle", + "Take the bread with split top and set it into the skillet with extended grip handle", + "Move the soft brown bread from table into the round cooking pan", + "Use the right arm to place the soft brown bread into the round cooking pan", + "Take the bread with golden-brown crust off the table into the dark pan with sturdy grip", + "Take the light brown loaf with smooth sides and put it in the solid dark-colored round pan.", + "Take the small loaf with curved top and place it inside the black skillet with smooth base", + "Grab the hand-sized oval loaf and place it inside the solid dark-colored round pan", + "Place the bread with split top from the table into the versatile skillet for stovetop cooking", + "Move the light brown bread with ridges into the flat-bottomed skillet with long handle from the table", + "Pick up the brown loaf and put it in the medium black pan with handle", + "Place the golden bread loaf into the heavy black cooking skillet with the right arm.", + "Grab the light brown loaf with smooth sides using the right arm and place it in the smooth round pan made of iron", + "Use the right arm to move the golden bread loaf into the round pan with hole in handle", + "Use the right arm to move the bread with golden-brown crust and set it into the round pan with hole in handle.", + "Pick the smooth loaf with rounded edges off the table and place it in the round pan with hole in handle.", + "Take the hand-sized oval loaf and drop it into the black pan with curved edges.", + "Lift the bread with warm golden color and drop it into the round pan with hole in handle.", + "Pick the bread with golden-brown crust up using the right arm and drop it in the medium black pan with handle.", + "Pick the soft brown bread and transfer it to the round cooking pan", + "Put the soft brown bread into the skillet with extended grip handle after grabbing it", + "Use the right arm to lift the small loaf with curved top and place it into the versatile skillet for stovetop cooking.", + "Move the light brown bread with ridges to the dark pan with sturdy grip using the right arm", + "Pick up the light brown bread with ridges with the right arm and drop it in the black pan with curved edges", + "Lift the light brown bread with ridges and drop it into the black skillet with smooth base", + "Take the bread with warm golden color with the right arm and drop into the round pan with hole in handle", + "Take the hand-sized oval loaf and place it inside the versatile skillet for stovetop cooking", + "Grab the light brown bread with ridges from the table and set it in the black skillet with smooth base.", + "Pick the bread with golden-brown crust and set it into the round cooking pan.", + "Pick the small golden brown bread with the right arm and set it in the versatile skillet for stovetop cooking", + "Lift the small golden brown bread using the right arm and move it to the black skillet with smooth base", + "Grab the light brown bread with ridges and place it inside the solid dark-colored round pan.", + "Take the brown loaf and put it in the smooth round pan made of iron.", + "Use the right arm to grab the bread with golden-brown crust and set it in the heavy black cooking skillet.", + "Transfer the bread with golden-brown crust into the versatile skillet for stovetop cooking from the table", + "Use the right arm to pick the soft brown bread up for the round pan with hole in handle", + "Grab the light brown bread with ridges and drop it into the black pan with curved edges", + "Use the right arm to stick the small loaf with curved top into the black pan with curved edges." + ], + "unseen": [ + "Use the right arm to grab the oval bread and set it in the black skillet", + "Grab the oval bread and drop it into the black skillet.", + "Pick the rounded oval bread up and place it in the black skillet", + "Move the oval bread to the round cast-iron skillet using the right arm.", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Pick up the rounded oval bread and drop it into the black skillet", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Pick the rounded oval bread up and place it in the black skillet", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Take the oval bread and put it in the black skillet", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the oval bread and place it into the black skillet.", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the oval bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Take the oval bread and put it in the iron skillet for frying foods", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Grab the oval bread and drop it into the black skillet.", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Take the rounded oval bread and put it in the black skillet", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Grab the oval bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and place it into the black skillet.", + "Use the right arm to move the rounded oval bread to the black skillet.", + "Pick up the oval bread and drop it into the black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the iron skillet for frying foods.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Grab the oval bread and place it in the black skillet", + "Grab the rounded oval bread and set it in the black skillet", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Pick up the rounded oval bread and drop it into the black skillet", + "Use the right arm to grab the oval bread and set it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the black skillet.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Move the rounded oval bread to the black skillet using the right arm.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Grab the oval bread and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Move the rounded oval bread to the black skillet using the right arm.", + "Take the oval bread and put it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Grab the oval bread and set it in the round cast-iron skillet", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Pick up the rounded oval bread and drop it into the black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Move the oval bread to the round cast-iron skillet using the right arm.", + "Take the oval bread and put it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the oval bread and set it in the round cast-iron skillet", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Use the right arm to move the oval bread to the black skillet.", + "Pick up the oval bread and drop it into the black skillet", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Grab the oval bread and drop it into the black skillet.", + "Pick the oval bread up and place it in the black skillet", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Grab the rounded oval bread and set it in the black skillet", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Use the right arm to move the oval bread to the iron skillet for frying foods.", + "Pick up the rounded oval bread and drop it into the black skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode2.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..5adc9add53943c4450263f0790755a8f6f636cfc --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick the bread loaf with bumpy surface and place it into the metal skillet.", + "Use the left arm to grab the hand-sized bread block for the dark gray skillet", + "Use the left arm to grab the bread loaf with uneven edges and set it in the smooth non-stick skillet.", + "Grab the bread with rough texture and drop it into the round skillet with open handle end", + "Pick the bread with rough texture and set it into the medium-sized frying skillet.", + "Take the golden bread and drop it into the medium-sized frying skillet.", + "Lift the doughy and soft bread using the left arm and move it to the round skillet with handle", + "Use the left arm to pick the bread with rough texture and put it in the skillet with black cooking surface", + "Pick the golden bread loaf off the table and place it in the round skillet with open handle end.", + "Move the bread with rough texture to the metal skillet with comfortable grip using the left arm", + "Grab the bread loaf with bumpy surface and stick it in the round skillet with open handle end.", + "Put the bread loaf with uneven edges into the gray skillet for stovetop cooking after grabbing it", + "Grab the soft bread with the left arm and place in the flat-bottom skillet", + "Use the left arm to lift the bread loaf with uneven edges and place it into the skillet for frying food.", + "Take the golden bread and put it in the black-surfaced skillet with gray sides.", + "Use the left arm to move the doughy and soft bread and set it into the metal skillet with comfortable grip.", + "Use the left arm to set the hand-sized bread block into the skillet with black cooking surface.", + "Pick the bread loaf with bumpy surface and transfer it to the gray skillet for stovetop cooking", + "Move the bread block with light patches from table into the round skillet with handle", + "Pick up the bread block with light patches and put it in the skillet for frying food", + "Take the golden bread and set it into the dark gray skillet", + "Place the bread with rough texture into the smooth non-stick skillet with the left arm.", + "Take the bread loaf with uneven edges and place it inside the round skillet with open handle end", + "Grab the golden bread and place it inside the flat-bottom skillet.", + "Move the soft bread into the metal skillet with comfortable grip from the table", + "Take the bread with rough texture and put it in the round skillet with handle.", + "Lift the bread loaf with bumpy surface and drop it into the black-surfaced skillet with gray sides", + "Use the left arm to grab the bread block with light patches for the black-surfaced skillet with gray sides", + "Use the left arm to pick the golden bread for the black-surfaced skillet with gray sides", + "Pick up the golden bread loaf with the left arm and drop it in the dark gray skillet", + "Grab the bread loaf with bumpy surface using the left arm and place it in the skillet for frying food", + "Grab the hand-sized bread block and place it inside the medium-sized frying skillet", + "Use the left arm to pick the cuboid bread up for the gray skillet for stovetop cooking", + "Transfer the cuboid bread into the black-surfaced skillet with gray sides from the table", + "Lift the bread loaf with uneven edges and drop it into the dark gray skillet.", + "Use the left arm to stick the square-shaped bread into the smooth non-stick skillet.", + "Put the bread block with light patches into the dark gray skillet.", + "Take the cuboid bread with the left arm and drop into the gray skillet for stovetop cooking", + "Use the left arm to place the bread loaf with uneven edges into the metal skillet", + "Use the left arm to take the golden bread and move it into the metal skillet with comfortable grip.", + "Grab the golden bread loaf from the table and set it in the black-surfaced skillet with gray sides.", + "Pick the doughy and soft bread with the left arm and set it in the metal skillet", + "Take the doughy and soft bread and place it inside the round skillet with handle", + "Set the light golden brown bread into the round skillet with handle after grabbing", + "Place the bread with rough texture from the table into the skillet with black cooking surface", + "Place the bread loaf with uneven edges into the flat-bottom skillet using the left arm", + "Pick up the light golden brown bread and place it in the metal skillet.", + "Pick the hand-sized bread block up using the left arm and drop it in the metal skillet with comfortable grip.", + "Use the left arm to move the bread with rough texture into the round skillet with open handle end", + "Take the light golden brown bread off the table into the metal skillet with comfortable grip", + "Use the left arm to pick the bread loaf with bumpy surface and place it into the skillet for frying food.", + "Use the left arm to grab the cuboid bread for the metal skillet", + "Use the left arm to grab the bread loaf with uneven edges and set it in the metal skillet.", + "Grab the soft bread and drop it into the skillet for frying food", + "Pick the light golden brown bread and set it into the flat-bottom skillet.", + "Take the golden bread loaf and drop it into the skillet for frying food.", + "Lift the golden bread using the left arm and move it to the metal skillet", + "Use the left arm to pick the doughy and soft bread and put it in the dark gray skillet", + "Pick the doughy and soft bread off the table and place it in the round skillet with open handle end.", + "Move the bread with rough texture to the black-surfaced skillet with gray sides using the left arm", + "Grab the bread loaf with bumpy surface and stick it in the medium-sized frying skillet.", + "Put the bread with rough texture into the gray skillet for stovetop cooking after grabbing it", + "Grab the doughy and soft bread with the left arm and place in the metal skillet", + "Use the left arm to lift the bread block with light patches and place it into the black-surfaced skillet with gray sides.", + "Take the cuboid bread and put it in the round skillet with open handle end.", + "Use the left arm to move the hand-sized bread block and set it into the skillet for frying food.", + "Use the left arm to set the bread loaf with bumpy surface into the skillet with black cooking surface.", + "Pick the bread with rough texture and transfer it to the black-surfaced skillet with gray sides", + "Move the golden bread from table into the round skillet with open handle end", + "Pick up the square-shaped bread and put it in the round skillet with handle", + "Take the bread block with light patches and set it into the flat-bottom skillet", + "Place the hand-sized bread block into the medium-sized frying skillet with the left arm.", + "Take the bread block with light patches and place it inside the flat-bottom skillet", + "Grab the bread with rough texture and place it inside the smooth non-stick skillet.", + "Move the doughy and soft bread into the black-surfaced skillet with gray sides from the table", + "Take the soft bread and put it in the dark gray skillet.", + "Lift the doughy and soft bread and drop it into the flat-bottom skillet", + "Use the left arm to grab the cuboid bread for the round skillet with handle", + "Use the left arm to pick the square-shaped bread for the medium-sized frying skillet", + "Pick up the bread loaf with bumpy surface with the left arm and drop it in the flat-bottom skillet", + "Grab the bread loaf with uneven edges using the left arm and place it in the round skillet with handle", + "Grab the square-shaped bread and place it inside the smooth non-stick skillet", + "Use the left arm to pick the golden bread loaf up for the smooth non-stick skillet", + "Transfer the hand-sized bread block into the metal skillet from the table", + "Lift the cuboid bread and drop it into the skillet with black cooking surface.", + "Use the left arm to stick the bread loaf with uneven edges into the skillet with black cooking surface.", + "Put the golden bread into the medium-sized frying skillet.", + "Take the doughy and soft bread with the left arm and drop into the skillet for frying food", + "Use the left arm to place the soft bread into the dark gray skillet", + "Use the left arm to take the hand-sized bread block and move it into the round skillet with open handle end.", + "Grab the bread block with light patches from the table and set it in the medium-sized frying skillet.", + "Pick the soft bread with the left arm and set it in the metal skillet", + "Take the golden bread loaf and place it inside the flat-bottom skillet", + "Set the square-shaped bread into the flat-bottom skillet after grabbing", + "Place the hand-sized bread block from the table into the medium-sized frying skillet", + "Place the cuboid bread into the skillet for frying food using the left arm", + "Pick up the bread loaf with uneven edges and place it in the smooth non-stick skillet.", + "Pick the bread loaf with uneven edges up using the left arm and drop it in the black-surfaced skillet with gray sides.", + "Use the left arm to move the soft bread into the black-surfaced skillet with gray sides", + "Take the soft bread off the table into the black-surfaced skillet with gray sides" + ], + "unseen": [ + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the left arm.", + "Use the left arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the dark skillet with shiny finish." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode20.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..010199984279a6a30317887a831388284928a3aa --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Transfer the soft bread into the heavy black cooking skillet from the table", + "Take the square-shaped bread off the table into the flat-bottomed skillet with long handle", + "Set the light golden brown bread into the versatile skillet for stovetop cooking after grabbing", + "Take the bread loaf with uneven edges and set it into the black skillet with smooth base", + "Grab the bread loaf with bumpy surface with the right arm and place in the heavy black cooking skillet", + "Lift the golden bread loaf using the right arm and move it to the dark pan with sturdy grip", + "Use the right arm to pick the square-shaped bread and put it in the medium black pan with handle", + "Put the bread loaf with uneven edges into the heavy black cooking skillet.", + "Put the bread loaf with uneven edges into the medium black pan with handle after grabbing it", + "Pick the bread with rough texture and set it into the smooth round pan made of iron.", + "Grab the cuboid bread and drop it into the black skillet with smooth base", + "Pick the light golden brown bread up using the right arm and drop it in the round pan with hole in handle.", + "Use the right arm to set the bread block with light patches into the heavy black cooking skillet.", + "Use the right arm to pick the hand-sized bread block for the black skillet with smooth base", + "Move the golden bread to the round cooking pan using the right arm", + "Use the right arm to grab the bread loaf with bumpy surface and set it in the black pan with curved edges.", + "Grab the bread loaf with bumpy surface and stick it in the dark pan with sturdy grip.", + "Grab the bread loaf with uneven edges and place it inside the solid dark-colored round pan.", + "Use the right arm to pick the golden bread and place it into the black skillet with smooth base.", + "Use the right arm to move the doughy and soft bread into the smooth round pan made of iron", + "Place the light golden brown bread into the dark pan with sturdy grip using the right arm", + "Place the golden bread into the black pan with curved edges with the right arm.", + "Use the right arm to stick the bread loaf with uneven edges into the round pan with hole in handle.", + "Lift the cuboid bread and drop it into the round pan with hole in handle", + "Use the right arm to move the bread loaf with uneven edges and set it into the heavy black cooking skillet.", + "Take the bread loaf with bumpy surface with the right arm and drop into the dark pan with sturdy grip", + "Place the soft bread from the table into the round cooking pan", + "Take the square-shaped bread and put it in the flat-bottomed skillet with long handle.", + "Grab the bread block with light patches using the right arm and place it in the medium black pan with handle", + "Use the right arm to grab the cuboid bread for the versatile skillet for stovetop cooking", + "Take the bread with rough texture and place it inside the medium black pan with handle", + "Use the right arm to grab the soft bread for the smooth round pan made of iron", + "Pick up the square-shaped bread with the right arm and drop it in the dark pan with sturdy grip", + "Pick the bread loaf with bumpy surface off the table and place it in the smooth round pan made of iron.", + "Take the soft bread and place it inside the skillet with extended grip handle", + "Use the right arm to place the bread loaf with bumpy surface into the round pan with hole in handle", + "Pick up the bread with rough texture and put it in the versatile skillet for stovetop cooking", + "Use the right arm to pick the bread loaf with uneven edges up for the round pan with hole in handle", + "Grab the cuboid bread and place it inside the round cooking pan", + "Pick up the bread with rough texture and place it in the dark pan with sturdy grip.", + "Grab the light golden brown bread from the table and set it in the medium black pan with handle.", + "Lift the golden bread and drop it into the black pan with curved edges.", + "Move the cuboid bread into the round pan with hole in handle from the table", + "Use the right arm to lift the cuboid bread and place it into the medium black pan with handle.", + "Use the right arm to take the light golden brown bread and move it into the versatile skillet for stovetop cooking.", + "Pick the golden bread loaf and transfer it to the versatile skillet for stovetop cooking", + "Move the light golden brown bread from table into the smooth round pan made of iron", + "Take the bread loaf with bumpy surface and drop it into the smooth round pan made of iron.", + "Pick the golden bread with the right arm and set it in the solid dark-colored round pan", + "Take the hand-sized bread block and put it in the heavy black cooking skillet.", + "Transfer the cuboid bread into the black pan with curved edges from the table", + "Take the hand-sized bread block off the table into the dark pan with sturdy grip", + "Set the soft bread into the flat-bottomed skillet with long handle after grabbing", + "Take the doughy and soft bread and set it into the round pan with hole in handle", + "Grab the soft bread with the right arm and place in the flat-bottomed skillet with long handle", + "Lift the hand-sized bread block using the right arm and move it to the solid dark-colored round pan", + "Use the right arm to pick the cuboid bread and put it in the flat-bottomed skillet with long handle", + "Put the bread loaf with bumpy surface into the round cooking pan.", + "Put the soft bread into the skillet with extended grip handle after grabbing it", + "Pick the doughy and soft bread and set it into the black pan with curved edges.", + "Grab the hand-sized bread block and drop it into the dark pan with sturdy grip", + "Pick the cuboid bread up using the right arm and drop it in the smooth round pan made of iron.", + "Use the right arm to set the doughy and soft bread into the smooth round pan made of iron.", + "Use the right arm to pick the light golden brown bread for the solid dark-colored round pan", + "Move the light golden brown bread to the solid dark-colored round pan using the right arm", + "Use the right arm to grab the bread block with light patches and set it in the round cooking pan.", + "Grab the light golden brown bread and stick it in the flat-bottomed skillet with long handle.", + "Grab the cuboid bread and place it inside the dark pan with sturdy grip.", + "Use the right arm to pick the bread loaf with uneven edges and place it into the versatile skillet for stovetop cooking.", + "Use the right arm to move the hand-sized bread block into the round pan with hole in handle", + "Place the cuboid bread into the dark pan with sturdy grip using the right arm", + "Place the golden bread loaf into the medium black pan with handle with the right arm.", + "Use the right arm to stick the bread block with light patches into the flat-bottomed skillet with long handle.", + "Lift the light golden brown bread and drop it into the smooth round pan made of iron", + "Use the right arm to move the hand-sized bread block and set it into the round pan with hole in handle.", + "Take the hand-sized bread block with the right arm and drop into the dark pan with sturdy grip", + "Place the doughy and soft bread from the table into the flat-bottomed skillet with long handle", + "Take the square-shaped bread and put it in the heavy black cooking skillet.", + "Grab the cuboid bread using the right arm and place it in the flat-bottomed skillet with long handle", + "Use the right arm to grab the doughy and soft bread for the dark pan with sturdy grip", + "Take the light golden brown bread and place it inside the black skillet with smooth base", + "Use the right arm to grab the cuboid bread for the medium black pan with handle", + "Pick up the golden bread with the right arm and drop it in the black pan with curved edges", + "Pick the doughy and soft bread off the table and place it in the flat-bottomed skillet with long handle.", + "Take the bread block with light patches and place it inside the versatile skillet for stovetop cooking", + "Use the right arm to place the hand-sized bread block into the black skillet with smooth base", + "Pick up the soft bread and put it in the black pan with curved edges", + "Use the right arm to pick the soft bread up for the smooth round pan made of iron", + "Grab the doughy and soft bread and place it inside the dark pan with sturdy grip", + "Pick up the cuboid bread and place it in the black skillet with smooth base.", + "Grab the hand-sized bread block from the table and set it in the flat-bottomed skillet with long handle.", + "Lift the doughy and soft bread and drop it into the black pan with curved edges.", + "Move the soft bread into the solid dark-colored round pan from the table", + "Use the right arm to lift the square-shaped bread and place it into the versatile skillet for stovetop cooking.", + "Use the right arm to take the bread loaf with bumpy surface and move it into the dark pan with sturdy grip.", + "Pick the cuboid bread and transfer it to the solid dark-colored round pan", + "Move the bread loaf with bumpy surface from table into the round cooking pan", + "Take the light golden brown bread and drop it into the smooth round pan made of iron.", + "Pick the soft bread with the right arm and set it in the medium black pan with handle", + "Take the hand-sized bread block and put it in the flat-bottomed skillet with long handle." + ], + "unseen": [ + "Grab the bread with golden crust and set it in the black skillet", + "Use the right arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Pick the bread with golden crust up and place it in the black skillet", + "Grab the rectangular bread loaf and place it into the black skillet.", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it in the round cast-iron skillet", + "Grab the rectangular bread loaf and drop it into the black skillet.", + "Move the rectangular bread loaf to the round cast-iron skillet using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Use the right arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Move the rectangular bread loaf to the iron skillet for frying foods using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Use the right arm to move the rectangular bread loaf to the round cast-iron skillet.", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Take the bread loaf with soft surface and put it in the black skillet", + "Pick up the bread with golden crust and drop it into the black skillet", + "Grab the bread loaf with soft surface and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Move the rectangular bread loaf to the black skillet using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the black skillet", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Use the right arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Take the rectangular bread loaf and put it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and drop it into the round cast-iron skillet.", + "Move the rectangular bread loaf to the iron skillet for frying foods using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Use the right arm to move the bread with golden crust to the round cast-iron skillet.", + "Pick the bread loaf with soft surface up and place it in the black skillet", + "Grab the bread with golden crust and place it into the black skillet.", + "Take the bread loaf with soft surface and put it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Move the bread loaf with soft surface to the iron skillet for frying foods using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Use the right arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Take the rectangular bread loaf and put it in the black skillet", + "Pick up the bread with golden crust and drop it into the iron skillet for frying foods", + "Grab the bread with golden crust and place it in the black skillet", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Move the bread loaf with soft surface to the round cast-iron skillet using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the black skillet", + "Grab the rectangular bread loaf and set it in the black skillet", + "Use the right arm to move the bread with golden crust to the black skillet.", + "Pick the bread with golden crust up and place it in the black skillet", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Take the rectangular bread loaf and put it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Grab the bread with golden crust and place it in the black skillet", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Move the rectangular bread loaf to the iron skillet for frying foods using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the black skillet", + "Grab the bread with golden crust and set it in the black skillet", + "Use the right arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Pick the bread loaf with soft surface up and place it in the black skillet", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Grab the rectangular bread loaf and place it in the black skillet", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Move the bread with golden crust to the black skillet using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Use the right arm to move the bread with golden crust to the iron skillet for frying foods.", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Take the bread with golden crust and put it in the round cast-iron skillet", + "Pick up the bread with golden crust and drop it into the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and drop it into the round cast-iron skillet.", + "Move the bread with golden crust to the black skillet using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Use the right arm to move the bread with golden crust to the iron skillet for frying foods.", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the bread with golden crust and place it into the round cast-iron skillet.", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the black skillet", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Move the rectangular bread loaf to the round cast-iron skillet using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the black skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode21.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..5e841f4acc3406951365b93d51270037e0972bd1 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to set the bread with golden surface color into the round pan with hole in handle.", + "Use the left arm to grab the soft golden baked bread and set it in the round pan with hole in handle.", + "Use the left arm to pick the soft golden baked bread and put it in the black skillet with smooth base", + "Pick up the rectangular bread soft inside with the left arm and drop it in the medium black pan with handle", + "Grab the slice-shaped bread using the left arm and place it in the versatile skillet for stovetop cooking", + "Grab the brown bread loaf from the table and set it in the solid dark-colored round pan.", + "Take the golden crusted bread slice and place it inside the dark pan with sturdy grip", + "Put the golden brown loaf-shaped bread into the flat-bottomed skillet with long handle.", + "Grab the bread with rounded corners and stick it in the round pan with hole in handle.", + "Place the square loaf of bread into the skillet with extended grip handle with the left arm.", + "Lift the bread loaf with square shape and drop it into the flat-bottomed skillet with long handle", + "Pick the square loaf of bread and set it into the round pan with hole in handle.", + "Use the left arm to grab the bread with firm crust edges for the smooth round pan made of iron", + "Pick up the brown bread loaf and put it in the smooth round pan made of iron", + "Place the slice-shaped bread from the table into the smooth round pan made of iron", + "Take the square loaf of bread with the left arm and drop into the round cooking pan", + "Pick the bread with rounded corners with the left arm and set it in the black skillet with smooth base", + "Take the bread with firm crust edges and put it in the round cooking pan.", + "Use the left arm to move the bread with firm crust edges and set it into the round cooking pan.", + "Pick up the rectangular bread soft inside and place it in the versatile skillet for stovetop cooking.", + "Use the left arm to take the golden bread and move it into the round cooking pan.", + "Place the bread with rounded corners into the skillet with extended grip handle using the left arm", + "Pick the rectangular bread soft inside up using the left arm and drop it in the black pan with curved edges.", + "Take the bread with golden surface color and place it inside the flat-bottomed skillet with long handle", + "Use the left arm to move the rectangular bread soft inside into the black skillet with smooth base", + "Lift the rectangular bread soft inside using the left arm and move it to the dark pan with sturdy grip", + "Pick the slice-shaped bread off the table and place it in the versatile skillet for stovetop cooking.", + "Use the left arm to stick the soft golden baked bread into the smooth round pan made of iron.", + "Lift the golden bread and drop it into the black pan with curved edges.", + "Take the bread with firm crust edges off the table into the skillet with extended grip handle", + "Move the golden crusted bread slice to the versatile skillet for stovetop cooking using the left arm", + "Grab the soft golden baked bread with the left arm and place in the dark pan with sturdy grip", + "Use the left arm to place the rectangular bread soft inside into the dark pan with sturdy grip", + "Pick the golden brown loaf-shaped bread and transfer it to the round cooking pan", + "Use the left arm to pick the bread with golden surface color and place it into the solid dark-colored round pan.", + "Use the left arm to lift the golden crusted bread slice and place it into the black pan with curved edges.", + "Transfer the rectangular bread soft inside into the flat-bottomed skillet with long handle from the table", + "Grab the golden crusted bread slice and place it inside the dark pan with sturdy grip", + "Grab the soft golden baked bread and place it inside the heavy black cooking skillet.", + "Set the rectangular bread soft inside into the smooth round pan made of iron after grabbing", + "Take the bread loaf with square shape and set it into the dark pan with sturdy grip", + "Move the bread with golden surface color from table into the smooth round pan made of iron", + "Take the slice-shaped bread and put it in the black pan with curved edges.", + "Take the bread loaf with square shape and drop it into the round pan with hole in handle.", + "Use the left arm to pick the golden crusted bread slice for the black pan with curved edges", + "Move the soft golden baked bread into the smooth round pan made of iron from the table", + "Grab the rectangular bread soft inside and drop it into the smooth round pan made of iron", + "Use the left arm to grab the brown bread loaf for the black skillet with smooth base", + "Use the left arm to pick the rectangular bread soft inside up for the flat-bottomed skillet with long handle", + "Put the golden bread into the round cooking pan after grabbing it", + "Use the left arm to set the brown bread loaf into the black pan with curved edges.", + "Use the left arm to grab the slice-shaped bread and set it in the versatile skillet for stovetop cooking.", + "Use the left arm to pick the golden crusted bread slice and put it in the black pan with curved edges", + "Pick up the bread with rounded corners with the left arm and drop it in the round pan with hole in handle", + "Grab the soft golden baked bread using the left arm and place it in the medium black pan with handle", + "Grab the bread loaf with square shape from the table and set it in the round cooking pan.", + "Take the rectangular bread soft inside and place it inside the skillet with extended grip handle", + "Put the bread with firm crust edges into the round pan with hole in handle.", + "Grab the slice-shaped bread and stick it in the black skillet with smooth base.", + "Place the bread with golden surface color into the black skillet with smooth base with the left arm.", + "Lift the bread loaf with square shape and drop it into the round cooking pan", + "Pick the slice-shaped bread and set it into the black skillet with smooth base.", + "Use the left arm to grab the golden brown loaf-shaped bread for the round pan with hole in handle", + "Pick up the rectangular bread soft inside and put it in the smooth round pan made of iron", + "Place the slice-shaped bread from the table into the skillet with extended grip handle", + "Take the bread with golden surface color with the left arm and drop into the heavy black cooking skillet", + "Pick the golden brown loaf-shaped bread with the left arm and set it in the medium black pan with handle", + "Take the bread with rounded corners and put it in the solid dark-colored round pan.", + "Use the left arm to move the rectangular bread soft inside and set it into the heavy black cooking skillet.", + "Pick up the soft golden baked bread and place it in the versatile skillet for stovetop cooking.", + "Use the left arm to take the soft golden baked bread and move it into the black pan with curved edges.", + "Place the soft golden baked bread into the round pan with hole in handle using the left arm", + "Pick the square loaf of bread up using the left arm and drop it in the round pan with hole in handle.", + "Take the bread with golden surface color and place it inside the versatile skillet for stovetop cooking", + "Use the left arm to move the bread with rounded corners into the black pan with curved edges", + "Lift the golden bread using the left arm and move it to the smooth round pan made of iron", + "Pick the bread with firm crust edges off the table and place it in the flat-bottomed skillet with long handle.", + "Use the left arm to stick the bread loaf with square shape into the smooth round pan made of iron.", + "Lift the bread with rounded corners and drop it into the round pan with hole in handle.", + "Take the golden bread off the table into the skillet with extended grip handle", + "Move the golden bread to the skillet with extended grip handle using the left arm", + "Grab the golden brown loaf-shaped bread with the left arm and place in the black skillet with smooth base", + "Use the left arm to place the golden bread into the heavy black cooking skillet", + "Pick the square loaf of bread and transfer it to the flat-bottomed skillet with long handle", + "Use the left arm to pick the bread with rounded corners and place it into the round cooking pan.", + "Use the left arm to lift the slice-shaped bread and place it into the smooth round pan made of iron.", + "Transfer the brown bread loaf into the black pan with curved edges from the table", + "Grab the bread with firm crust edges and place it inside the black pan with curved edges", + "Grab the golden crusted bread slice and place it inside the black skillet with smooth base.", + "Set the golden bread into the smooth round pan made of iron after grabbing", + "Take the golden bread and set it into the solid dark-colored round pan", + "Move the bread loaf with square shape from table into the versatile skillet for stovetop cooking", + "Take the bread with firm crust edges and put it in the black skillet with smooth base.", + "Take the rectangular bread soft inside and drop it into the skillet with extended grip handle.", + "Use the left arm to pick the bread loaf with square shape for the versatile skillet for stovetop cooking", + "Move the golden bread into the black skillet with smooth base from the table", + "Grab the bread with rounded corners and drop it into the heavy black cooking skillet", + "Use the left arm to grab the rectangular bread soft inside for the round pan with hole in handle", + "Use the left arm to pick the bread with rounded corners up for the round pan with hole in handle", + "Put the brown bread loaf into the black skillet with smooth base after grabbing it" + ], + "unseen": [ + "Use the left arm to grab the small loaf-shaped bread and set it in the black skillet", + "Grab the soft rectangular bread loaf and place it into the round cast-iron skillet.", + "Pick up the bread loaf medium-sized and drop it into the iron skillet for frying foods", + "Move the small loaf-shaped bread to the black skillet using the left arm.", + "Take the soft rectangular bread loaf and put it in the black skillet", + "Grab the bread loaf medium-sized and drop it into the round cast-iron skillet.", + "Grab the bread loaf medium-sized and place it in the iron skillet for frying foods", + "Pick the soft rectangular bread loaf up and place it in the iron skillet for frying foods", + "Grab the small loaf-shaped bread and set it in the iron skillet for frying foods", + "Use the left arm to move the small loaf-shaped bread to the black skillet.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the soft rectangular bread loaf and place it into the round cast-iron skillet.", + "Pick up the soft rectangular bread loaf and drop it into the black skillet", + "Move the soft rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Take the small loaf-shaped bread and put it in the black skillet", + "Grab the small loaf-shaped bread and drop it into the round cast-iron skillet.", + "Grab the bread loaf medium-sized and place it in the round cast-iron skillet", + "Pick the bread loaf medium-sized up and place it in the round cast-iron skillet", + "Grab the soft rectangular bread loaf and set it in the black skillet", + "Use the left arm to move the soft rectangular bread loaf to the round cast-iron skillet.", + "Use the left arm to grab the bread loaf medium-sized and set it in the iron skillet for frying foods", + "Grab the small loaf-shaped bread and place it into the black skillet.", + "Pick up the soft rectangular bread loaf and drop it into the round cast-iron skillet", + "Move the soft rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Take the bread loaf medium-sized and put it in the black skillet", + "Grab the small loaf-shaped bread and drop it into the iron skillet for frying foods.", + "Grab the soft rectangular bread loaf and place it in the round cast-iron skillet", + "Pick the bread loaf medium-sized up and place it in the black skillet", + "Grab the small loaf-shaped bread and set it in the round cast-iron skillet", + "Use the left arm to move the soft rectangular bread loaf to the black skillet.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the black skillet", + "Grab the soft rectangular bread loaf and place it into the black skillet.", + "Pick up the soft rectangular bread loaf and drop it into the round cast-iron skillet", + "Move the soft rectangular bread loaf to the black skillet using the left arm.", + "Take the bread loaf medium-sized and put it in the black skillet", + "Grab the soft rectangular bread loaf and drop it into the black skillet.", + "Grab the small loaf-shaped bread and place it in the round cast-iron skillet", + "Pick the small loaf-shaped bread up and place it in the round cast-iron skillet", + "Grab the bread loaf medium-sized and set it in the round cast-iron skillet", + "Use the left arm to move the soft rectangular bread loaf to the iron skillet for frying foods.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the bread loaf medium-sized and place it into the round cast-iron skillet.", + "Pick up the soft rectangular bread loaf and drop it into the iron skillet for frying foods", + "Move the small loaf-shaped bread to the black skillet using the left arm.", + "Take the bread loaf medium-sized and put it in the round cast-iron skillet", + "Grab the soft rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Grab the small loaf-shaped bread and place it in the black skillet", + "Pick the bread loaf medium-sized up and place it in the black skillet", + "Grab the soft rectangular bread loaf and set it in the black skillet", + "Use the left arm to move the small loaf-shaped bread to the iron skillet for frying foods.", + "Use the left arm to grab the bread loaf medium-sized and set it in the black skillet", + "Grab the small loaf-shaped bread and place it into the black skillet.", + "Pick up the small loaf-shaped bread and drop it into the iron skillet for frying foods", + "Move the soft rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Take the small loaf-shaped bread and put it in the iron skillet for frying foods", + "Grab the small loaf-shaped bread and drop it into the round cast-iron skillet.", + "Grab the bread loaf medium-sized and place it in the round cast-iron skillet", + "Pick the soft rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the small loaf-shaped bread and set it in the black skillet", + "Use the left arm to move the bread loaf medium-sized to the iron skillet for frying foods.", + "Use the left arm to grab the bread loaf medium-sized and set it in the black skillet", + "Grab the bread loaf medium-sized and place it into the round cast-iron skillet.", + "Pick up the soft rectangular bread loaf and drop it into the round cast-iron skillet", + "Move the bread loaf medium-sized to the black skillet using the left arm.", + "Take the small loaf-shaped bread and put it in the black skillet", + "Grab the small loaf-shaped bread and drop it into the black skillet.", + "Grab the small loaf-shaped bread and place it in the black skillet", + "Pick the small loaf-shaped bread up and place it in the black skillet", + "Grab the bread loaf medium-sized and set it in the iron skillet for frying foods", + "Use the left arm to move the soft rectangular bread loaf to the round cast-iron skillet.", + "Use the left arm to grab the small loaf-shaped bread and set it in the round cast-iron skillet", + "Grab the small loaf-shaped bread and place it into the black skillet.", + "Pick up the soft rectangular bread loaf and drop it into the black skillet", + "Move the soft rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Take the soft rectangular bread loaf and put it in the round cast-iron skillet", + "Grab the small loaf-shaped bread and drop it into the round cast-iron skillet.", + "Grab the soft rectangular bread loaf and place it in the black skillet", + "Pick the soft rectangular bread loaf up and place it in the black skillet", + "Grab the soft rectangular bread loaf and set it in the iron skillet for frying foods", + "Use the left arm to move the bread loaf medium-sized to the iron skillet for frying foods.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the small loaf-shaped bread and place it into the round cast-iron skillet.", + "Pick up the soft rectangular bread loaf and drop it into the black skillet", + "Move the soft rectangular bread loaf to the black skillet using the left arm.", + "Take the small loaf-shaped bread and put it in the black skillet", + "Grab the bread loaf medium-sized and drop it into the iron skillet for frying foods.", + "Grab the soft rectangular bread loaf and place it in the black skillet", + "Pick the small loaf-shaped bread up and place it in the black skillet", + "Grab the bread loaf medium-sized and set it in the round cast-iron skillet", + "Use the left arm to move the soft rectangular bread loaf to the black skillet.", + "Use the left arm to grab the small loaf-shaped bread and set it in the iron skillet for frying foods", + "Grab the soft rectangular bread loaf and place it into the iron skillet for frying foods.", + "Pick up the soft rectangular bread loaf and drop it into the iron skillet for frying foods", + "Move the small loaf-shaped bread to the iron skillet for frying foods using the left arm.", + "Take the soft rectangular bread loaf and put it in the black skillet", + "Grab the bread loaf medium-sized and drop it into the black skillet.", + "Grab the bread loaf medium-sized and place it in the black skillet", + "Pick the soft rectangular bread loaf up and place it in the black skillet", + "Grab the soft rectangular bread loaf and set it in the iron skillet for frying foods", + "Use the left arm to move the small loaf-shaped bread to the iron skillet for frying foods." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode22.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..7958a4e4f1a7474a05ae935b3d9a5a3b4311c856 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the small bread to the dark gray skillet using the left arm", + "Use the left arm to pick the small bread and put it in the smooth non-stick skillet", + "Use the left arm to move the golden brown bread into the medium-sized frying skillet", + "Grab the small bread and place it inside the metal skillet.", + "Use the left arm to lift the bread with golden crust and place it into the metal skillet.", + "Use the left arm to set the soft doughy bread into the round skillet with open handle end.", + "Place the soft doughy bread into the metal skillet with the left arm.", + "Use the left arm to pick the bread with golden crust for the skillet with black cooking surface", + "Take the golden brown bread with braided design and place it inside the gray skillet for stovetop cooking", + "Use the left arm to pick the small bread up for the flat-bottom skillet", + "Pick the small golden baked bread with the left arm and set it in the medium-sized frying skillet", + "Put the round bread with braided top into the black-surfaced skillet with gray sides after grabbing it", + "Take the soft doughy bread with the left arm and drop into the metal skillet with comfortable grip", + "Grab the smooth crusty small bread and place it inside the black-surfaced skillet with gray sides", + "Grab the bread with golden crust from the table and set it in the round skillet with handle.", + "Take the small golden baked bread and put it in the metal skillet with comfortable grip.", + "Set the small bread into the smooth non-stick skillet after grabbing", + "Lift the round bread with crusty texture and drop it into the round skillet with open handle end.", + "Move the small golden baked bread into the round skillet with open handle end from the table", + "Put the soft doughy bread into the round skillet with open handle end.", + "Take the round bread with braided top and put it in the gray skillet for stovetop cooking.", + "Use the left arm to grab the golden brown bread for the skillet with black cooking surface", + "Place the smooth crusty small bread into the dark gray skillet using the left arm", + "Use the left arm to stick the braided bread loaf into the metal skillet.", + "Pick the smooth crusty small bread up using the left arm and drop it in the gray skillet for stovetop cooking.", + "Move the round bread with crusty texture from table into the skillet with black cooking surface", + "Grab the bread with golden crust with the left arm and place in the metal skillet with comfortable grip", + "Grab the braided bread loaf and drop it into the round skillet with handle", + "Pick up the round bread with crusty texture with the left arm and drop it in the skillet with black cooking surface", + "Use the left arm to grab the small golden baked bread and set it in the round skillet with handle.", + "Use the left arm to grab the golden brown bread for the round skillet with open handle end", + "Take the bread with golden crust and place it inside the flat-bottom skillet", + "Transfer the round bread with braided top into the gray skillet for stovetop cooking from the table", + "Take the small golden baked bread and set it into the black-surfaced skillet with gray sides", + "Use the left arm to place the soft doughy bread into the dark gray skillet", + "Use the left arm to pick the smooth crusty small bread and place it into the metal skillet.", + "Lift the soft golden bread using the left arm and move it to the gray skillet for stovetop cooking", + "Pick the bread with golden crust and transfer it to the smooth non-stick skillet", + "Place the small golden baked bread from the table into the flat-bottom skillet", + "Lift the soft doughy bread and drop it into the black-surfaced skillet with gray sides", + "Pick up the small bread and place it in the medium-sized frying skillet.", + "Take the small golden baked bread and drop it into the gray skillet for stovetop cooking.", + "Pick the golden brown bread with braided design and set it into the round skillet with handle.", + "Grab the golden bread loaf with soft inside using the left arm and place it in the metal skillet", + "Pick the smooth crusty small bread off the table and place it in the flat-bottom skillet.", + "Pick up the bread with golden crust and put it in the dark gray skillet", + "Use the left arm to move the soft golden bread and set it into the smooth non-stick skillet.", + "Use the left arm to take the small golden baked bread and move it into the round skillet with handle.", + "Grab the round bread with crusty texture and stick it in the smooth non-stick skillet.", + "Take the golden bread loaf with soft inside off the table into the round skillet with open handle end", + "Move the round bread with crusty texture to the skillet for frying food using the left arm", + "Use the left arm to pick the small bread and put it in the gray skillet for stovetop cooking", + "Use the left arm to move the golden brown bread with braided design into the dark gray skillet", + "Grab the round bread with braided top and place it inside the metal skillet.", + "Use the left arm to lift the golden brown bread and place it into the round skillet with handle.", + "Use the left arm to set the golden brown bread with braided design into the round skillet with open handle end.", + "Place the golden bread loaf with soft inside into the flat-bottom skillet with the left arm.", + "Use the left arm to pick the braided bread loaf for the black-surfaced skillet with gray sides", + "Take the soft doughy bread and place it inside the smooth non-stick skillet", + "Use the left arm to pick the small bread up for the black-surfaced skillet with gray sides", + "Pick the smooth crusty small bread with the left arm and set it in the black-surfaced skillet with gray sides", + "Put the soft golden bread into the medium-sized frying skillet after grabbing it", + "Take the round bread with crusty texture with the left arm and drop into the metal skillet with comfortable grip", + "Grab the round bread with crusty texture and place it inside the skillet for frying food", + "Grab the braided bread loaf from the table and set it in the skillet with black cooking surface.", + "Take the bread with golden crust and put it in the round skillet with handle.", + "Set the soft doughy bread into the medium-sized frying skillet after grabbing", + "Lift the golden brown bread with braided design and drop it into the skillet for frying food.", + "Move the golden bread loaf with soft inside into the metal skillet from the table", + "Put the braided bread loaf into the round skillet with handle.", + "Take the golden brown bread and put it in the flat-bottom skillet.", + "Use the left arm to grab the bread with golden crust for the gray skillet for stovetop cooking", + "Place the golden bread loaf with soft inside into the round skillet with handle using the left arm", + "Use the left arm to stick the golden bread loaf with soft inside into the round skillet with handle.", + "Pick the smooth crusty small bread up using the left arm and drop it in the round skillet with handle.", + "Move the golden brown bread from table into the flat-bottom skillet", + "Grab the golden brown bread with the left arm and place in the round skillet with handle", + "Grab the bread with golden crust and drop it into the metal skillet with comfortable grip", + "Pick up the bread with golden crust with the left arm and drop it in the metal skillet", + "Use the left arm to grab the golden brown bread with braided design and set it in the metal skillet.", + "Use the left arm to grab the golden brown bread for the black-surfaced skillet with gray sides", + "Take the soft doughy bread and place it inside the gray skillet for stovetop cooking", + "Transfer the round bread with braided top into the metal skillet with comfortable grip from the table", + "Take the golden brown bread with braided design and set it into the round skillet with handle", + "Use the left arm to place the small bread into the metal skillet with comfortable grip", + "Use the left arm to pick the golden brown bread and place it into the skillet with black cooking surface.", + "Lift the small bread using the left arm and move it to the dark gray skillet", + "Pick the bread with golden crust and transfer it to the smooth non-stick skillet", + "Place the round bread with crusty texture from the table into the black-surfaced skillet with gray sides", + "Lift the bread with golden crust and drop it into the dark gray skillet", + "Pick up the braided bread loaf and place it in the flat-bottom skillet.", + "Take the golden bread loaf with soft inside and drop it into the skillet for frying food.", + "Pick the braided bread loaf and set it into the dark gray skillet.", + "Grab the soft golden bread using the left arm and place it in the medium-sized frying skillet", + "Pick the golden brown bread off the table and place it in the black-surfaced skillet with gray sides.", + "Pick up the golden brown bread and put it in the round skillet with handle", + "Use the left arm to move the smooth crusty small bread and set it into the medium-sized frying skillet.", + "Use the left arm to take the round bread with braided top and move it into the gray skillet for stovetop cooking.", + "Grab the golden bread loaf with soft inside and stick it in the round skillet with open handle end.", + "Take the round bread with braided top off the table into the round skillet with open handle end" + ], + "unseen": [ + "Grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the round braided loaf and set it in the dark skillet with shiny finish", + "Pick the round braided loaf up and place it in the dark skillet with shiny finish", + "Take the round braided loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and place it into the dark skillet with shiny finish.", + "Grab the round braided loaf and place it in the pan-shaped skillet with hole in handle", + "Pick up the braided top round bread and drop it into the versatile skillet for frying and sauteing", + "Grab the round braided loaf and drop it into the pan-shaped skillet with hole in handle.", + "Move the palm-sized braided golden bread to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to move the round braided loaf to the dark skillet with shiny finish.", + "Grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Pick the round braided loaf up and place it in the dark skillet with shiny finish", + "Take the braided top round bread and put it in the dark skillet with shiny finish", + "Grab the braided top round bread and place it into the dark skillet with shiny finish.", + "Grab the round braided loaf and place it in the pan-shaped skillet with hole in handle", + "Pick up the braided top round bread and drop it into the dark skillet with shiny finish", + "Grab the round braided loaf and drop it into the pan-shaped skillet with hole in handle.", + "Move the round braided loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the round braided loaf to the dark skillet with shiny finish.", + "Grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Pick the braided top round bread up and place it in the versatile skillet for frying and sauteing", + "Take the palm-sized braided golden bread and put it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and place it into the dark skillet with shiny finish.", + "Grab the palm-sized braided golden bread and place it in the dark skillet with shiny finish", + "Pick up the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing.", + "Move the palm-sized braided golden bread to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the braided top round bread to the versatile skillet for frying and sauteing.", + "Grab the round braided loaf and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the braided top round bread and set it in the dark skillet with shiny finish", + "Pick the palm-sized braided golden bread up and place it in the pan-shaped skillet with hole in handle", + "Take the braided top round bread and put it in the dark skillet with shiny finish", + "Grab the round braided loaf and place it into the dark skillet with shiny finish.", + "Grab the braided top round bread and place it in the dark skillet with shiny finish", + "Pick up the braided top round bread and drop it into the versatile skillet for frying and sauteing", + "Grab the round braided loaf and drop it into the versatile skillet for frying and sauteing.", + "Move the braided top round bread to the dark skillet with shiny finish using the left arm.", + "Use the left arm to move the round braided loaf to the pan-shaped skillet with hole in handle.", + "Grab the palm-sized braided golden bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Pick the palm-sized braided golden bread up and place it in the versatile skillet for frying and sauteing", + "Take the round braided loaf and put it in the versatile skillet for frying and sauteing", + "Grab the braided top round bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the round braided loaf and place it in the versatile skillet for frying and sauteing", + "Pick up the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and drop it into the pan-shaped skillet with hole in handle.", + "Move the palm-sized braided golden bread to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the palm-sized braided golden bread to the dark skillet with shiny finish.", + "Grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the braided top round bread and set it in the dark skillet with shiny finish", + "Pick the palm-sized braided golden bread up and place it in the dark skillet with shiny finish", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and place it into the versatile skillet for frying and sauteing.", + "Grab the braided top round bread and place it in the dark skillet with shiny finish", + "Pick up the braided top round bread and drop it into the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and drop it into the dark skillet with shiny finish.", + "Move the round braided loaf to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to move the round braided loaf to the dark skillet with shiny finish.", + "Grab the round braided loaf and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Pick the palm-sized braided golden bread up and place it in the dark skillet with shiny finish", + "Take the braided top round bread and put it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it into the dark skillet with shiny finish.", + "Grab the palm-sized braided golden bread and place it in the pan-shaped skillet with hole in handle", + "Pick up the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle.", + "Move the braided top round bread to the dark skillet with shiny finish using the left arm.", + "Use the left arm to move the round braided loaf to the pan-shaped skillet with hole in handle.", + "Grab the palm-sized braided golden bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Pick the round braided loaf up and place it in the pan-shaped skillet with hole in handle", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and place it into the versatile skillet for frying and sauteing.", + "Grab the braided top round bread and place it in the pan-shaped skillet with hole in handle", + "Pick up the round braided loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the braided top round bread and drop it into the versatile skillet for frying and sauteing.", + "Move the braided top round bread to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the palm-sized braided golden bread to the versatile skillet for frying and sauteing.", + "Grab the palm-sized braided golden bread and set it in the dark skillet with shiny finish", + "Use the left arm to grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Pick the palm-sized braided golden bread up and place it in the dark skillet with shiny finish", + "Take the braided top round bread and put it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the palm-sized braided golden bread and place it in the dark skillet with shiny finish", + "Pick up the round braided loaf and drop it into the dark skillet with shiny finish", + "Grab the braided top round bread and drop it into the versatile skillet for frying and sauteing.", + "Move the braided top round bread to the dark skillet with shiny finish using the left arm.", + "Use the left arm to move the round braided loaf to the pan-shaped skillet with hole in handle.", + "Grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Pick the palm-sized braided golden bread up and place it in the dark skillet with shiny finish", + "Take the palm-sized braided golden bread and put it in the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and place it into the versatile skillet for frying and sauteing.", + "Grab the palm-sized braided golden bread and place it in the versatile skillet for frying and sauteing", + "Pick up the round braided loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and drop it into the versatile skillet for frying and sauteing.", + "Move the round braided loaf to the dark skillet with shiny finish using the left arm.", + "Use the left arm to move the palm-sized braided golden bread to the versatile skillet for frying and sauteing." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode23.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..05544c03294fcb74b1f84ac9b3f0dc2b4f952963 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the bread with firm crust edges with the right arm and drop it in the medium skillet", + "Grab the golden brown loaf-shaped bread from the table and set it in the round skillet with handle.", + "Use the right arm to take the golden bread and move it into the skillet for cooking.", + "Use the right arm to grab the brown bread loaf and set it in the smooth cast iron skillet.", + "Put the brown bread loaf into the dark gray skillet.", + "Use the right arm to move the bread with firm crust edges and set it into the dark gray skillet.", + "Use the right arm to lift the rectangular bread soft inside and place it into the pan with dark finish.", + "Use the right arm to set the golden crusted bread slice into the pan with dark finish.", + "Use the right arm to pick the soft golden baked bread and place it into the smooth cast iron skillet.", + "Set the slice-shaped bread into the round skillet with handle after grabbing", + "Use the right arm to pick the bread with rounded corners for the smooth cast iron skillet", + "Grab the bread with rounded corners with the right arm and place in the medium round cast iron skillet", + "Transfer the bread with golden surface color into the medium round cast iron skillet from the table", + "Place the golden crusted bread slice into the gray pan using the right arm", + "Grab the bread loaf with square shape and drop it into the pan with dark finish", + "Move the bread with rounded corners into the round skillet with handle from the table", + "Take the bread with rounded corners with the right arm and drop into the medium round cast iron skillet", + "Grab the golden bread and place it inside the smooth cast iron skillet", + "Use the right arm to stick the brown bread loaf into the rounded skillet with a holey handle.", + "Use the right arm to move the brown bread loaf into the round skillet with handle", + "Take the bread with firm crust edges off the table into the hefty black skillet", + "Pick up the soft golden baked bread and put it in the pan with dark finish", + "Pick the bread loaf with square shape up using the right arm and drop it in the dark gray skillet.", + "Put the bread with rounded corners into the skillet for cooking after grabbing it", + "Place the soft golden baked bread from the table into the gray cooking pan with handle", + "Take the square loaf of bread and set it into the round skillet with handle", + "Use the right arm to place the brown bread loaf into the rounded skillet with a holey handle", + "Use the right arm to pick the golden brown loaf-shaped bread up for the gray cooking pan with handle", + "Take the soft golden baked bread and put it in the gray pan.", + "Take the golden bread and drop it into the smooth cast iron skillet.", + "Take the bread loaf with square shape and put it in the smooth cast iron skillet.", + "Move the bread with rounded corners from table into the rounded skillet with a holey handle", + "Pick the bread with firm crust edges with the right arm and set it in the round skillet with handle", + "Use the right arm to grab the slice-shaped bread for the dark gray skillet", + "Take the soft golden baked bread and place it inside the skillet for cooking", + "Lift the bread with rounded corners and drop it into the skillet for cooking", + "Grab the golden brown loaf-shaped bread and place it inside the rounded skillet with a holey handle.", + "Take the bread loaf with square shape and place it inside the smooth cast iron skillet", + "Use the right arm to grab the golden bread for the smooth cast iron skillet", + "Pick the golden brown loaf-shaped bread off the table and place it in the gray cooking pan with handle.", + "Lift the golden bread and drop it into the medium skillet.", + "Lift the square loaf of bread using the right arm and move it to the gray cooking pan with handle", + "Place the bread with rounded corners into the hefty black skillet with the right arm.", + "Use the right arm to pick the bread loaf with square shape and put it in the smooth round cooking skillet", + "Pick the square loaf of bread and set it into the medium round cast iron skillet.", + "Move the golden crusted bread slice to the dark gray skillet using the right arm", + "Pick the golden bread and transfer it to the smooth cast iron skillet", + "Grab the rectangular bread soft inside using the right arm and place it in the pan with dark finish", + "Grab the slice-shaped bread and stick it in the smooth cast iron skillet.", + "Pick up the brown bread loaf and place it in the medium round cast iron skillet.", + "Pick up the golden bread with the right arm and drop it in the gray pan", + "Grab the square loaf of bread from the table and set it in the dark gray skillet.", + "Use the right arm to take the square loaf of bread and move it into the smooth round cooking skillet.", + "Use the right arm to grab the bread loaf with square shape and set it in the medium skillet.", + "Put the brown bread loaf into the hefty black skillet.", + "Use the right arm to move the bread with rounded corners and set it into the skillet for cooking.", + "Use the right arm to lift the golden bread and place it into the round skillet with handle.", + "Use the right arm to set the bread loaf with square shape into the hefty black skillet.", + "Use the right arm to pick the bread loaf with square shape and place it into the smooth cast iron skillet.", + "Set the bread with golden surface color into the rounded skillet with a holey handle after grabbing", + "Use the right arm to pick the brown bread loaf for the hefty black skillet", + "Grab the soft golden baked bread with the right arm and place in the medium round cast iron skillet", + "Transfer the rectangular bread soft inside into the smooth cast iron skillet from the table", + "Place the bread with firm crust edges into the gray pan using the right arm", + "Grab the brown bread loaf and drop it into the medium round cast iron skillet", + "Move the square loaf of bread into the round skillet with handle from the table", + "Take the bread with rounded corners with the right arm and drop into the pan with dark finish", + "Grab the golden crusted bread slice and place it inside the pan with dark finish", + "Use the right arm to stick the square loaf of bread into the smooth cast iron skillet.", + "Use the right arm to move the golden crusted bread slice into the medium round cast iron skillet", + "Take the golden bread off the table into the gray pan", + "Pick up the golden crusted bread slice and put it in the gray cooking pan with handle", + "Pick the bread with firm crust edges up using the right arm and drop it in the gray cooking pan with handle.", + "Put the bread with golden surface color into the gray cooking pan with handle after grabbing it", + "Place the bread with golden surface color from the table into the medium round cast iron skillet", + "Take the bread with rounded corners and set it into the rounded skillet with a holey handle", + "Use the right arm to place the bread with golden surface color into the dark gray skillet", + "Use the right arm to pick the golden brown loaf-shaped bread up for the gray cooking pan with handle", + "Take the golden bread and put it in the dark gray skillet.", + "Take the brown bread loaf and drop it into the smooth cast iron skillet.", + "Take the golden brown loaf-shaped bread and put it in the hefty black skillet.", + "Move the golden bread from table into the medium skillet", + "Pick the golden crusted bread slice with the right arm and set it in the round skillet with handle", + "Use the right arm to grab the soft golden baked bread for the dark gray skillet", + "Take the bread loaf with square shape and place it inside the dark gray skillet", + "Lift the bread loaf with square shape and drop it into the round skillet with handle", + "Grab the bread with firm crust edges and place it inside the gray pan.", + "Take the golden brown loaf-shaped bread and place it inside the pan with dark finish", + "Use the right arm to grab the bread with golden surface color for the skillet for cooking", + "Pick the rectangular bread soft inside off the table and place it in the dark gray skillet.", + "Lift the bread loaf with square shape and drop it into the smooth cast iron skillet.", + "Lift the slice-shaped bread using the right arm and move it to the pan with dark finish", + "Place the brown bread loaf into the medium round cast iron skillet with the right arm.", + "Use the right arm to pick the golden bread and put it in the dark gray skillet", + "Pick the bread with rounded corners and set it into the medium round cast iron skillet.", + "Move the golden brown loaf-shaped bread to the hefty black skillet using the right arm", + "Pick the soft golden baked bread and transfer it to the medium round cast iron skillet", + "Grab the rectangular bread soft inside using the right arm and place it in the medium round cast iron skillet", + "Grab the bread with firm crust edges and stick it in the gray pan.", + "Pick up the golden bread and place it in the gray pan." + ], + "unseen": [ + "Pick the small loaf-shaped bread up and place it in the dark gray round cast iron pan", + "Take the soft rectangular bread loaf and put it in the blackish-gray cast iron skillet", + "Move the bread loaf medium-sized to the cooking skillet with grippy handle using the right arm.", + "Grab the bread loaf medium-sized and place it in the cooking skillet with grippy handle", + "Grab the soft rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Grab the bread loaf medium-sized and set it in the blackish-gray cast iron skillet", + "Pick up the bread loaf medium-sized and drop it into the blackish-gray cast iron skillet", + "Use the right arm to move the small loaf-shaped bread to the dark gray round cast iron pan.", + "Use the right arm to grab the bread loaf medium-sized and set it in the cooking skillet with grippy handle", + "Grab the soft rectangular bread loaf and drop it into the dark gray round cast iron pan.", + "Pick the soft rectangular bread loaf up and place it in the cooking skillet with grippy handle", + "Take the bread loaf medium-sized and put it in the dark gray round cast iron pan", + "Move the soft rectangular bread loaf to the blackish-gray cast iron skillet using the right arm.", + "Grab the soft rectangular bread loaf and place it in the cooking skillet with grippy handle", + "Grab the soft rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Grab the bread loaf medium-sized and set it in the dark gray round cast iron pan", + "Pick up the soft rectangular bread loaf and drop it into the blackish-gray cast iron skillet", + "Use the right arm to move the bread loaf medium-sized to the dark gray round cast iron pan.", + "Use the right arm to grab the small loaf-shaped bread and set it in the dark gray round cast iron pan", + "Grab the bread loaf medium-sized and drop it into the blackish-gray cast iron skillet.", + "Pick the bread loaf medium-sized up and place it in the dark gray round cast iron pan", + "Take the soft rectangular bread loaf and put it in the cooking skillet with grippy handle", + "Move the bread loaf medium-sized to the dark gray round cast iron pan using the right arm.", + "Grab the bread loaf medium-sized and place it in the blackish-gray cast iron skillet", + "Grab the bread loaf medium-sized and place it into the dark gray round cast iron pan.", + "Grab the soft rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Pick up the small loaf-shaped bread and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the soft rectangular bread loaf to the blackish-gray cast iron skillet.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Grab the small loaf-shaped bread and drop it into the blackish-gray cast iron skillet.", + "Pick the bread loaf medium-sized up and place it in the blackish-gray cast iron skillet", + "Take the soft rectangular bread loaf and put it in the dark gray round cast iron pan", + "Move the small loaf-shaped bread to the blackish-gray cast iron skillet using the right arm.", + "Grab the small loaf-shaped bread and place it in the dark gray round cast iron pan", + "Grab the soft rectangular bread loaf and place it into the dark gray round cast iron pan.", + "Grab the bread loaf medium-sized and set it in the blackish-gray cast iron skillet", + "Pick up the bread loaf medium-sized and drop it into the dark gray round cast iron pan", + "Use the right arm to move the small loaf-shaped bread to the dark gray round cast iron pan.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the dark gray round cast iron pan", + "Grab the bread loaf medium-sized and drop it into the cooking skillet with grippy handle.", + "Pick the bread loaf medium-sized up and place it in the dark gray round cast iron pan", + "Take the bread loaf medium-sized and put it in the cooking skillet with grippy handle", + "Move the soft rectangular bread loaf to the cooking skillet with grippy handle using the right arm.", + "Grab the bread loaf medium-sized and place it in the cooking skillet with grippy handle", + "Grab the small loaf-shaped bread and place it into the blackish-gray cast iron skillet.", + "Grab the soft rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Pick up the soft rectangular bread loaf and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the bread loaf medium-sized to the blackish-gray cast iron skillet.", + "Use the right arm to grab the bread loaf medium-sized and set it in the cooking skillet with grippy handle", + "Grab the soft rectangular bread loaf and drop it into the cooking skillet with grippy handle.", + "Pick the small loaf-shaped bread up and place it in the blackish-gray cast iron skillet", + "Take the bread loaf medium-sized and put it in the dark gray round cast iron pan", + "Move the small loaf-shaped bread to the blackish-gray cast iron skillet using the right arm.", + "Grab the soft rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Grab the soft rectangular bread loaf and place it into the dark gray round cast iron pan.", + "Grab the soft rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Pick up the small loaf-shaped bread and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the soft rectangular bread loaf to the dark gray round cast iron pan.", + "Use the right arm to grab the small loaf-shaped bread and set it in the dark gray round cast iron pan", + "Grab the bread loaf medium-sized and drop it into the blackish-gray cast iron skillet.", + "Pick the small loaf-shaped bread up and place it in the dark gray round cast iron pan", + "Take the small loaf-shaped bread and put it in the dark gray round cast iron pan", + "Move the small loaf-shaped bread to the blackish-gray cast iron skillet using the right arm.", + "Grab the soft rectangular bread loaf and place it in the cooking skillet with grippy handle", + "Grab the bread loaf medium-sized and place it into the cooking skillet with grippy handle.", + "Grab the soft rectangular bread loaf and set it in the dark gray round cast iron pan", + "Pick up the soft rectangular bread loaf and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the small loaf-shaped bread to the blackish-gray cast iron skillet.", + "Use the right arm to grab the small loaf-shaped bread and set it in the dark gray round cast iron pan", + "Grab the small loaf-shaped bread and drop it into the blackish-gray cast iron skillet.", + "Pick the bread loaf medium-sized up and place it in the blackish-gray cast iron skillet", + "Take the soft rectangular bread loaf and put it in the cooking skillet with grippy handle", + "Move the soft rectangular bread loaf to the blackish-gray cast iron skillet using the right arm.", + "Grab the small loaf-shaped bread and place it in the blackish-gray cast iron skillet", + "Grab the small loaf-shaped bread and place it into the blackish-gray cast iron skillet.", + "Grab the bread loaf medium-sized and set it in the dark gray round cast iron pan", + "Pick up the bread loaf medium-sized and drop it into the blackish-gray cast iron skillet", + "Use the right arm to move the small loaf-shaped bread to the dark gray round cast iron pan.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the dark gray round cast iron pan", + "Grab the soft rectangular bread loaf and drop it into the cooking skillet with grippy handle.", + "Pick the soft rectangular bread loaf up and place it in the cooking skillet with grippy handle", + "Take the bread loaf medium-sized and put it in the dark gray round cast iron pan", + "Move the small loaf-shaped bread to the blackish-gray cast iron skillet using the right arm.", + "Grab the soft rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Grab the small loaf-shaped bread and place it into the cooking skillet with grippy handle.", + "Grab the bread loaf medium-sized and set it in the cooking skillet with grippy handle", + "Pick up the soft rectangular bread loaf and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the bread loaf medium-sized to the dark gray round cast iron pan.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Grab the bread loaf medium-sized and drop it into the blackish-gray cast iron skillet.", + "Pick the small loaf-shaped bread up and place it in the blackish-gray cast iron skillet", + "Take the soft rectangular bread loaf and put it in the cooking skillet with grippy handle", + "Move the small loaf-shaped bread to the blackish-gray cast iron skillet using the right arm.", + "Grab the small loaf-shaped bread and place it in the cooking skillet with grippy handle", + "Grab the small loaf-shaped bread and place it into the cooking skillet with grippy handle.", + "Grab the small loaf-shaped bread and set it in the dark gray round cast iron pan", + "Pick up the bread loaf medium-sized and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the bread loaf medium-sized to the dark gray round cast iron pan.", + "Use the right arm to grab the bread loaf medium-sized and set it in the blackish-gray cast iron skillet", + "Grab the small loaf-shaped bread and drop it into the cooking skillet with grippy handle." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode24.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..86799cb40593a3d89055fc1fb672d4780dc75237 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the small golden baked bread into the skillet with extended grip handle after grabbing", + "Grab the soft golden bread from the table and set it in the skillet with extended grip handle.", + "Grab the small golden baked bread and place it inside the medium black pan with handle.", + "Grab the soft doughy bread and place it inside the smooth round pan made of iron", + "Take the soft doughy bread and drop it into the flat-bottomed skillet with long handle.", + "Pick up the golden brown bread with braided design with the right arm and drop it in the round pan with hole in handle", + "Pick up the smooth crusty small bread and put it in the smooth round pan made of iron", + "Put the round bread with crusty texture into the round pan with hole in handle.", + "Place the golden brown bread from the table into the black pan with curved edges", + "Take the round bread with crusty texture off the table into the black pan with curved edges", + "Put the golden brown bread with braided design into the medium black pan with handle after grabbing it", + "Place the smooth crusty small bread into the heavy black cooking skillet using the right arm", + "Transfer the soft doughy bread into the dark pan with sturdy grip from the table", + "Lift the soft doughy bread and drop it into the dark pan with sturdy grip", + "Pick the small bread up using the right arm and drop it in the round cooking pan.", + "Use the right arm to lift the bread with golden crust and place it into the medium black pan with handle.", + "Move the braided bread loaf into the skillet with extended grip handle from the table", + "Move the golden brown bread with braided design to the dark pan with sturdy grip using the right arm", + "Take the small golden baked bread and set it into the dark pan with sturdy grip", + "Use the right arm to pick the smooth crusty small bread and place it into the smooth round pan made of iron.", + "Use the right arm to grab the golden bread loaf with soft inside for the medium black pan with handle", + "Take the round bread with crusty texture with the right arm and drop into the black skillet with smooth base", + "Take the small bread and put it in the medium black pan with handle.", + "Use the right arm to move the round bread with crusty texture and set it into the medium black pan with handle.", + "Lift the smooth crusty small bread and drop it into the flat-bottomed skillet with long handle.", + "Use the right arm to pick the small golden baked bread and put it in the solid dark-colored round pan", + "Use the right arm to pick the round bread with braided top up for the flat-bottomed skillet with long handle", + "Lift the small golden baked bread using the right arm and move it to the heavy black cooking skillet", + "Use the right arm to grab the bread with golden crust for the black skillet with smooth base", + "Use the right arm to pick the soft doughy bread for the dark pan with sturdy grip", + "Pick the golden bread loaf with soft inside off the table and place it in the heavy black cooking skillet.", + "Use the right arm to place the small golden baked bread into the versatile skillet for stovetop cooking", + "Grab the bread with golden crust and stick it in the smooth round pan made of iron.", + "Take the round bread with crusty texture and place it inside the skillet with extended grip handle", + "Take the golden brown bread and place it inside the round cooking pan", + "Use the right arm to grab the golden brown bread with braided design and set it in the solid dark-colored round pan.", + "Use the right arm to take the soft golden bread and move it into the round pan with hole in handle.", + "Use the right arm to set the small bread into the smooth round pan made of iron.", + "Place the small bread into the black pan with curved edges with the right arm.", + "Use the right arm to stick the golden brown bread with braided design into the solid dark-colored round pan.", + "Grab the bread with golden crust and drop it into the dark pan with sturdy grip", + "Take the soft doughy bread and put it in the round cooking pan.", + "Pick up the smooth crusty small bread and place it in the dark pan with sturdy grip.", + "Pick the braided bread loaf and transfer it to the round cooking pan", + "Pick the round bread with crusty texture with the right arm and set it in the round cooking pan", + "Use the right arm to move the round bread with crusty texture into the skillet with extended grip handle", + "Pick the small golden baked bread and set it into the heavy black cooking skillet.", + "Grab the small golden baked bread using the right arm and place it in the flat-bottomed skillet with long handle", + "Grab the braided bread loaf with the right arm and place in the heavy black cooking skillet", + "Move the round bread with braided top from table into the black pan with curved edges", + "Set the round bread with crusty texture into the medium black pan with handle after grabbing", + "Grab the soft doughy bread from the table and set it in the versatile skillet for stovetop cooking.", + "Grab the bread with golden crust and place it inside the black pan with curved edges.", + "Grab the round bread with crusty texture and place it inside the flat-bottomed skillet with long handle", + "Take the soft golden bread and drop it into the smooth round pan made of iron.", + "Pick up the soft doughy bread with the right arm and drop it in the skillet with extended grip handle", + "Pick up the golden bread loaf with soft inside and put it in the medium black pan with handle", + "Put the round bread with crusty texture into the black pan with curved edges.", + "Place the golden brown bread with braided design from the table into the round pan with hole in handle", + "Take the soft golden bread off the table into the heavy black cooking skillet", + "Put the smooth crusty small bread into the round pan with hole in handle after grabbing it", + "Place the round bread with braided top into the black pan with curved edges using the right arm", + "Transfer the golden brown bread with braided design into the smooth round pan made of iron from the table", + "Lift the golden brown bread with braided design and drop it into the smooth round pan made of iron", + "Pick the small golden baked bread up using the right arm and drop it in the round pan with hole in handle.", + "Use the right arm to lift the braided bread loaf and place it into the round pan with hole in handle.", + "Move the bread with golden crust into the skillet with extended grip handle from the table", + "Move the round bread with crusty texture to the medium black pan with handle using the right arm", + "Take the golden brown bread and set it into the flat-bottomed skillet with long handle", + "Use the right arm to pick the small golden baked bread and place it into the dark pan with sturdy grip.", + "Use the right arm to grab the small golden baked bread for the black skillet with smooth base", + "Take the small bread with the right arm and drop into the versatile skillet for stovetop cooking", + "Take the small golden baked bread and put it in the flat-bottomed skillet with long handle.", + "Use the right arm to move the smooth crusty small bread and set it into the flat-bottomed skillet with long handle.", + "Lift the small golden baked bread and drop it into the heavy black cooking skillet.", + "Use the right arm to pick the soft doughy bread and put it in the medium black pan with handle", + "Use the right arm to pick the soft golden bread up for the flat-bottomed skillet with long handle", + "Lift the braided bread loaf using the right arm and move it to the flat-bottomed skillet with long handle", + "Use the right arm to grab the braided bread loaf for the round cooking pan", + "Use the right arm to pick the braided bread loaf for the round pan with hole in handle", + "Pick the smooth crusty small bread off the table and place it in the flat-bottomed skillet with long handle.", + "Use the right arm to place the small golden baked bread into the black skillet with smooth base", + "Grab the golden brown bread and stick it in the round pan with hole in handle.", + "Take the golden bread loaf with soft inside and place it inside the black skillet with smooth base", + "Take the golden brown bread with braided design and place it inside the dark pan with sturdy grip", + "Use the right arm to grab the round bread with crusty texture and set it in the solid dark-colored round pan.", + "Use the right arm to take the golden bread loaf with soft inside and move it into the heavy black cooking skillet.", + "Use the right arm to set the golden brown bread into the medium black pan with handle.", + "Place the bread with golden crust into the heavy black cooking skillet with the right arm.", + "Use the right arm to stick the small golden baked bread into the black skillet with smooth base.", + "Grab the golden bread loaf with soft inside and drop it into the solid dark-colored round pan", + "Take the golden brown bread and put it in the black skillet with smooth base.", + "Pick up the round bread with crusty texture and place it in the round cooking pan.", + "Pick the round bread with crusty texture and transfer it to the round cooking pan", + "Pick the round bread with braided top with the right arm and set it in the versatile skillet for stovetop cooking", + "Use the right arm to move the round bread with crusty texture into the black pan with curved edges", + "Pick the bread with golden crust and set it into the versatile skillet for stovetop cooking.", + "Grab the small golden baked bread using the right arm and place it in the black pan with curved edges", + "Grab the bread with golden crust with the right arm and place in the dark pan with sturdy grip", + "Move the smooth crusty small bread from table into the black pan with curved edges" + ], + "unseen": [ + "Grab the round braided loaf and place it in the black skillet", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and place it into the iron skillet for frying foods.", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the round braided loaf and set it in the black skillet", + "Move the round braided loaf to the iron skillet for frying foods using the right arm.", + "Grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Use the right arm to move the round braided loaf to the round cast-iron skillet.", + "Pick the round braided loaf up and place it in the black skillet", + "Take the braided top round bread and put it in the round cast-iron skillet", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Grab the braided top round bread and drop it into the black skillet.", + "Grab the braided top round bread and place it into the round cast-iron skillet.", + "Pick up the braided top round bread and drop it into the black skillet", + "Use the right arm to grab the braided top round bread and set it in the black skillet", + "Move the palm-sized braided golden bread to the iron skillet for frying foods using the right arm.", + "Grab the braided top round bread and set it in the black skillet", + "Use the right arm to move the round braided loaf to the iron skillet for frying foods.", + "Pick the braided top round bread up and place it in the iron skillet for frying foods", + "Take the braided top round bread and put it in the round cast-iron skillet", + "Grab the braided top round bread and place it in the black skillet", + "Grab the braided top round bread and drop it into the black skillet.", + "Grab the round braided loaf and place it into the round cast-iron skillet.", + "Pick up the braided top round bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the palm-sized braided golden bread and set it in the black skillet", + "Move the braided top round bread to the black skillet using the right arm.", + "Grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Use the right arm to move the palm-sized braided golden bread to the black skillet.", + "Pick the round braided loaf up and place it in the round cast-iron skillet", + "Take the round braided loaf and put it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and place it in the iron skillet for frying foods", + "Grab the braided top round bread and drop it into the iron skillet for frying foods.", + "Grab the braided top round bread and place it into the black skillet.", + "Pick up the round braided loaf and drop it into the round cast-iron skillet", + "Use the right arm to grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Move the round braided loaf to the black skillet using the right arm.", + "Grab the round braided loaf and set it in the black skillet", + "Use the right arm to move the round braided loaf to the black skillet.", + "Pick the braided top round bread up and place it in the iron skillet for frying foods", + "Take the round braided loaf and put it in the iron skillet for frying foods", + "Grab the braided top round bread and place it in the black skillet", + "Grab the palm-sized braided golden bread and drop it into the round cast-iron skillet.", + "Grab the palm-sized braided golden bread and place it into the black skillet.", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the braided top round bread and set it in the round cast-iron skillet", + "Move the palm-sized braided golden bread to the black skillet using the right arm.", + "Grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Use the right arm to move the braided top round bread to the round cast-iron skillet.", + "Pick the round braided loaf up and place it in the black skillet", + "Take the braided top round bread and put it in the black skillet", + "Grab the palm-sized braided golden bread and place it in the black skillet", + "Grab the braided top round bread and drop it into the iron skillet for frying foods.", + "Grab the round braided loaf and place it into the black skillet.", + "Pick up the braided top round bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the palm-sized braided golden bread and set it in the black skillet", + "Move the braided top round bread to the round cast-iron skillet using the right arm.", + "Grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Use the right arm to move the round braided loaf to the black skillet.", + "Pick the palm-sized braided golden bread up and place it in the iron skillet for frying foods", + "Take the braided top round bread and put it in the iron skillet for frying foods", + "Grab the braided top round bread and place it in the black skillet", + "Grab the palm-sized braided golden bread and drop it into the round cast-iron skillet.", + "Grab the braided top round bread and place it into the black skillet.", + "Pick up the braided top round bread and drop it into the black skillet", + "Use the right arm to grab the round braided loaf and set it in the black skillet", + "Move the round braided loaf to the black skillet using the right arm.", + "Grab the round braided loaf and set it in the black skillet", + "Use the right arm to move the round braided loaf to the black skillet.", + "Pick the round braided loaf up and place it in the black skillet", + "Take the braided top round bread and put it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and place it in the iron skillet for frying foods", + "Grab the braided top round bread and drop it into the iron skillet for frying foods.", + "Grab the braided top round bread and place it into the round cast-iron skillet.", + "Pick up the braided top round bread and drop it into the black skillet", + "Use the right arm to grab the braided top round bread and set it in the black skillet", + "Move the braided top round bread to the round cast-iron skillet using the right arm.", + "Grab the braided top round bread and set it in the black skillet", + "Use the right arm to move the round braided loaf to the iron skillet for frying foods.", + "Pick the palm-sized braided golden bread up and place it in the black skillet", + "Take the palm-sized braided golden bread and put it in the round cast-iron skillet", + "Grab the round braided loaf and place it in the black skillet", + "Grab the braided top round bread and drop it into the round cast-iron skillet.", + "Grab the round braided loaf and place it into the iron skillet for frying foods.", + "Pick up the round braided loaf and drop it into the black skillet", + "Use the right arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Move the round braided loaf to the iron skillet for frying foods using the right arm.", + "Grab the round braided loaf and set it in the black skillet", + "Use the right arm to move the round braided loaf to the round cast-iron skillet.", + "Pick the braided top round bread up and place it in the iron skillet for frying foods", + "Take the palm-sized braided golden bread and put it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and place it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and drop it into the black skillet.", + "Grab the round braided loaf and place it into the black skillet.", + "Pick up the braided top round bread and drop it into the black skillet", + "Use the right arm to grab the braided top round bread and set it in the iron skillet for frying foods", + "Move the palm-sized braided golden bread to the round cast-iron skillet using the right arm.", + "Grab the palm-sized braided golden bread and set it in the black skillet", + "Use the right arm to move the braided top round bread to the iron skillet for frying foods.", + "Pick the braided top round bread up and place it in the iron skillet for frying foods", + "Take the palm-sized braided golden bread and put it in the iron skillet for frying foods" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode25.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..699e9d4081ba7b5ad9f4f40df9820e7b390a59e0 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift the doughy and soft bread and place it into the rounded skillet with a holey handle.", + "Take the square-shaped bread off the table into the medium skillet", + "Take the square-shaped bread and drop it into the smooth round cooking skillet.", + "Pick the golden bread and transfer it to the round skillet with handle", + "Place the golden bread loaf from the table into the smooth round cooking skillet", + "Use the right arm to move the cuboid bread and set it into the round skillet with handle.", + "Use the right arm to take the bread loaf with bumpy surface and move it into the smooth round cooking skillet.", + "Take the cuboid bread and put it in the smooth cast iron skillet.", + "Take the bread block with light patches and place it inside the smooth cast iron skillet", + "Lift the golden bread and drop it into the rounded skillet with a holey handle", + "Move the bread loaf with uneven edges from table into the smooth round cooking skillet", + "Put the bread loaf with bumpy surface into the smooth round cooking skillet after grabbing it", + "Grab the soft bread with the right arm and place in the smooth cast iron skillet", + "Take the square-shaped bread and place it inside the gray cooking pan with handle", + "Grab the cuboid bread using the right arm and place it in the dark gray skillet", + "Use the right arm to pick the doughy and soft bread for the skillet for cooking", + "Pick up the doughy and soft bread and place it in the rounded skillet with a holey handle.", + "Grab the golden bread loaf and stick it in the medium skillet.", + "Use the right arm to pick the doughy and soft bread up for the gray cooking pan with handle", + "Place the bread loaf with uneven edges into the gray pan using the right arm", + "Move the bread block with light patches into the dark gray skillet from the table", + "Pick the golden bread loaf and set it into the hefty black skillet.", + "Transfer the golden bread loaf into the medium skillet from the table", + "Grab the bread with rough texture and drop it into the skillet for cooking", + "Use the right arm to set the doughy and soft bread into the medium round cast iron skillet.", + "Use the right arm to grab the golden bread loaf for the smooth round cooking skillet", + "Use the right arm to pick the square-shaped bread and place it into the dark gray skillet.", + "Place the doughy and soft bread into the smooth cast iron skillet with the right arm.", + "Grab the light golden brown bread from the table and set it in the hefty black skillet.", + "Grab the bread loaf with uneven edges and place it inside the pan with dark finish.", + "Move the golden bread to the medium round cast iron skillet using the right arm", + "Pick up the bread loaf with bumpy surface with the right arm and drop it in the round skillet with handle", + "Put the bread loaf with bumpy surface into the smooth round cooking skillet.", + "Pick the bread loaf with bumpy surface off the table and place it in the round skillet with handle.", + "Lift the bread block with light patches using the right arm and move it to the smooth round cooking skillet", + "Take the doughy and soft bread with the right arm and drop into the smooth cast iron skillet", + "Use the right arm to move the cuboid bread into the round skillet with handle", + "Use the right arm to stick the bread loaf with bumpy surface into the hefty black skillet.", + "Lift the bread with rough texture and drop it into the dark gray skillet.", + "Take the bread block with light patches and set it into the hefty black skillet", + "Pick the soft bread up using the right arm and drop it in the gray pan.", + "Use the right arm to grab the bread loaf with bumpy surface for the gray pan", + "Use the right arm to grab the bread loaf with uneven edges and set it in the hefty black skillet.", + "Take the bread block with light patches and put it in the medium skillet.", + "Use the right arm to place the square-shaped bread into the gray pan", + "Grab the light golden brown bread and place it inside the skillet for cooking", + "Use the right arm to pick the soft bread and put it in the skillet for cooking", + "Pick up the soft bread and put it in the medium skillet", + "Set the bread loaf with bumpy surface into the pan with dark finish after grabbing", + "Pick the bread block with light patches with the right arm and set it in the hefty black skillet", + "Use the right arm to lift the bread with rough texture and place it into the gray pan.", + "Take the golden bread off the table into the dark gray skillet", + "Take the hand-sized bread block and drop it into the round skillet with handle.", + "Pick the doughy and soft bread and transfer it to the smooth round cooking skillet", + "Place the golden bread loaf from the table into the dark gray skillet", + "Use the right arm to move the doughy and soft bread and set it into the pan with dark finish.", + "Use the right arm to take the doughy and soft bread and move it into the round skillet with handle.", + "Take the square-shaped bread and put it in the rounded skillet with a holey handle.", + "Take the bread block with light patches and place it inside the rounded skillet with a holey handle", + "Lift the bread block with light patches and drop it into the gray pan", + "Move the golden bread loaf from table into the smooth cast iron skillet", + "Put the bread block with light patches into the hefty black skillet after grabbing it", + "Grab the bread block with light patches with the right arm and place in the medium round cast iron skillet", + "Take the soft bread and place it inside the smooth cast iron skillet", + "Grab the bread loaf with bumpy surface using the right arm and place it in the gray pan", + "Use the right arm to pick the square-shaped bread for the gray pan", + "Pick up the bread block with light patches and place it in the smooth cast iron skillet.", + "Grab the cuboid bread and stick it in the gray cooking pan with handle.", + "Use the right arm to pick the hand-sized bread block up for the pan with dark finish", + "Place the golden bread into the dark gray skillet using the right arm", + "Move the square-shaped bread into the medium skillet from the table", + "Pick the golden bread and set it into the skillet for cooking.", + "Transfer the bread block with light patches into the pan with dark finish from the table", + "Grab the light golden brown bread and drop it into the pan with dark finish", + "Use the right arm to set the cuboid bread into the hefty black skillet.", + "Use the right arm to grab the doughy and soft bread for the pan with dark finish", + "Use the right arm to pick the hand-sized bread block and place it into the round skillet with handle.", + "Place the golden bread into the medium round cast iron skillet with the right arm.", + "Grab the square-shaped bread from the table and set it in the medium skillet.", + "Grab the bread loaf with bumpy surface and place it inside the skillet for cooking.", + "Move the golden bread to the skillet for cooking using the right arm", + "Pick up the soft bread with the right arm and drop it in the rounded skillet with a holey handle", + "Put the cuboid bread into the medium round cast iron skillet.", + "Pick the light golden brown bread off the table and place it in the gray pan.", + "Lift the soft bread using the right arm and move it to the medium skillet", + "Take the hand-sized bread block with the right arm and drop into the rounded skillet with a holey handle", + "Use the right arm to move the square-shaped bread into the pan with dark finish", + "Use the right arm to stick the bread loaf with uneven edges into the gray pan.", + "Lift the golden bread and drop it into the dark gray skillet.", + "Take the bread loaf with bumpy surface and set it into the rounded skillet with a holey handle", + "Pick the doughy and soft bread up using the right arm and drop it in the gray pan.", + "Use the right arm to grab the bread loaf with bumpy surface for the gray pan", + "Use the right arm to grab the bread block with light patches and set it in the smooth cast iron skillet.", + "Take the bread loaf with bumpy surface and put it in the medium skillet.", + "Use the right arm to place the golden bread into the hefty black skillet", + "Grab the bread block with light patches and place it inside the pan with dark finish", + "Use the right arm to pick the cuboid bread and put it in the gray pan", + "Pick up the light golden brown bread and put it in the medium round cast iron skillet", + "Set the doughy and soft bread into the gray cooking pan with handle after grabbing", + "Pick the square-shaped bread with the right arm and set it in the gray cooking pan with handle" + ], + "unseen": [ + "Grab the bread with golden crust and drop it into the cooking skillet with grippy handle.", + "Use the right arm to move the rectangular bread loaf to the blackish-gray cast iron skillet.", + "Grab the rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Pick the rectangular bread loaf up and place it in the cooking skillet with grippy handle", + "Grab the bread with golden crust and place it into the blackish-gray cast iron skillet.", + "Pick up the bread with golden crust and drop it into the blackish-gray cast iron skillet", + "Use the right arm to grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Take the rectangular bread loaf and put it in the dark gray round cast iron pan", + "Grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Move the bread with golden crust to the blackish-gray cast iron skillet using the right arm.", + "Grab the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to move the bread with golden crust to the dark gray round cast iron pan.", + "Grab the rectangular bread loaf and place it in the cooking skillet with grippy handle", + "Pick the bread loaf with soft surface up and place it in the dark gray round cast iron pan", + "Grab the bread with golden crust and place it into the cooking skillet with grippy handle.", + "Pick up the bread loaf with soft surface and drop it into the cooking skillet with grippy handle", + "Use the right arm to grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Take the bread loaf with soft surface and put it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Move the bread loaf with soft surface to the cooking skillet with grippy handle using the right arm.", + "Grab the bread with golden crust and drop it into the dark gray round cast iron pan.", + "Use the right arm to move the rectangular bread loaf to the blackish-gray cast iron skillet.", + "Grab the rectangular bread loaf and place it in the dark gray round cast iron pan", + "Pick the rectangular bread loaf up and place it in the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and place it into the dark gray round cast iron pan.", + "Pick up the rectangular bread loaf and drop it into the dark gray round cast iron pan", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark gray round cast iron pan", + "Take the bread loaf with soft surface and put it in the blackish-gray cast iron skillet", + "Grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Move the rectangular bread loaf to the blackish-gray cast iron skillet using the right arm.", + "Grab the rectangular bread loaf and drop it into the dark gray round cast iron pan.", + "Use the right arm to move the bread with golden crust to the blackish-gray cast iron skillet.", + "Grab the rectangular bread loaf and place it in the dark gray round cast iron pan", + "Pick the bread with golden crust up and place it in the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and place it into the cooking skillet with grippy handle.", + "Pick up the bread with golden crust and drop it into the cooking skillet with grippy handle", + "Use the right arm to grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Take the bread with golden crust and put it in the blackish-gray cast iron skillet", + "Grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Move the bread loaf with soft surface to the cooking skillet with grippy handle using the right arm.", + "Grab the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to move the rectangular bread loaf to the dark gray round cast iron pan.", + "Grab the bread with golden crust and place it in the cooking skillet with grippy handle", + "Pick the rectangular bread loaf up and place it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and place it into the dark gray round cast iron pan.", + "Pick up the bread loaf with soft surface and drop it into the dark gray round cast iron pan", + "Use the right arm to grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Take the bread with golden crust and put it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Move the bread with golden crust to the dark gray round cast iron pan using the right arm.", + "Grab the rectangular bread loaf and drop it into the cooking skillet with grippy handle.", + "Use the right arm to move the rectangular bread loaf to the dark gray round cast iron pan.", + "Grab the bread with golden crust and place it in the blackish-gray cast iron skillet", + "Pick the bread loaf with soft surface up and place it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Pick up the rectangular bread loaf and drop it into the cooking skillet with grippy handle", + "Use the right arm to grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Take the bread with golden crust and put it in the cooking skillet with grippy handle", + "Grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Move the bread with golden crust to the cooking skillet with grippy handle using the right arm.", + "Grab the bread with golden crust and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to move the bread loaf with soft surface to the blackish-gray cast iron skillet.", + "Grab the bread with golden crust and place it in the cooking skillet with grippy handle", + "Pick the bread loaf with soft surface up and place it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and place it into the dark gray round cast iron pan.", + "Pick up the bread loaf with soft surface and drop it into the dark gray round cast iron pan", + "Use the right arm to grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Take the bread loaf with soft surface and put it in the cooking skillet with grippy handle", + "Grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Move the rectangular bread loaf to the dark gray round cast iron pan using the right arm.", + "Grab the bread loaf with soft surface and drop it into the dark gray round cast iron pan.", + "Use the right arm to move the bread loaf with soft surface to the blackish-gray cast iron skillet.", + "Grab the rectangular bread loaf and place it in the cooking skillet with grippy handle", + "Pick the bread loaf with soft surface up and place it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and place it into the cooking skillet with grippy handle.", + "Pick up the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet", + "Use the right arm to grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Take the bread with golden crust and put it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Move the rectangular bread loaf to the dark gray round cast iron pan using the right arm.", + "Grab the bread loaf with soft surface and drop it into the dark gray round cast iron pan.", + "Use the right arm to move the bread with golden crust to the cooking skillet with grippy handle.", + "Grab the bread with golden crust and place it in the dark gray round cast iron pan", + "Pick the rectangular bread loaf up and place it in the blackish-gray cast iron skillet", + "Grab the bread with golden crust and place it into the cooking skillet with grippy handle.", + "Pick up the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet", + "Use the right arm to grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Take the bread with golden crust and put it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Move the rectangular bread loaf to the cooking skillet with grippy handle using the right arm.", + "Grab the rectangular bread loaf and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to move the bread loaf with soft surface to the dark gray round cast iron pan.", + "Grab the rectangular bread loaf and place it in the cooking skillet with grippy handle", + "Pick the bread loaf with soft surface up and place it in the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and place it into the dark gray round cast iron pan.", + "Pick up the rectangular bread loaf and drop it into the dark gray round cast iron pan", + "Use the right arm to grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Take the bread loaf with soft surface and put it in the dark gray round cast iron pan", + "Grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Move the bread with golden crust to the blackish-gray cast iron skillet using the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode26.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..dd353bceda99e9ed7cac6f035e7955d337ac48a3 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the hand-sized oval loaf using the right arm and move it to the black pan with curved edges", + "Pick the soft brown bread and transfer it to the heavy black cooking skillet", + "Grab the bread with golden-brown crust using the right arm and place it in the heavy black cooking skillet", + "Grab the bread with golden-brown crust from the table and set it in the smooth round pan made of iron.", + "Lift the small golden brown bread and drop it into the heavy black cooking skillet", + "Transfer the smooth loaf with rounded edges into the medium black pan with handle from the table", + "Grab the bread with warm golden color and place it inside the round cooking pan.", + "Take the light brown bread with ridges off the table into the skillet with extended grip handle", + "Lift the bread with split top and drop it into the heavy black cooking skillet.", + "Grab the small loaf with curved top and drop it into the flat-bottomed skillet with long handle", + "Move the light brown loaf with smooth sides into the flat-bottomed skillet with long handle from the table", + "Take the golden bread loaf and put it in the heavy black cooking skillet.", + "Grab the smooth loaf with rounded edges and stick it in the black pan with curved edges.", + "Use the right arm to pick the light brown bread with ridges up for the round pan with hole in handle", + "Use the right arm to grab the small loaf with curved top for the black skillet with smooth base", + "Use the right arm to take the bread with warm golden color and move it into the medium black pan with handle.", + "Use the right arm to pick the brown loaf and put it in the round cooking pan", + "Move the smooth loaf with rounded edges to the black pan with curved edges using the right arm", + "Take the golden bread loaf and put it in the round cooking pan.", + "Place the bread with golden-brown crust from the table into the solid dark-colored round pan", + "Grab the small loaf with curved top with the right arm and place in the flat-bottomed skillet with long handle", + "Use the right arm to grab the small golden brown bread for the black skillet with smooth base", + "Take the light brown loaf with smooth sides and set it into the black skillet with smooth base", + "Put the hand-sized oval loaf into the black skillet with smooth base.", + "Use the right arm to pick the small golden brown bread for the versatile skillet for stovetop cooking", + "Pick up the soft brown bread and place it in the round cooking pan.", + "Pick the bread with split top up using the right arm and drop it in the dark pan with sturdy grip.", + "Use the right arm to stick the small golden brown bread into the versatile skillet for stovetop cooking.", + "Take the golden bread loaf and place it inside the skillet with extended grip handle", + "Set the bread with golden-brown crust into the round pan with hole in handle after grabbing", + "Take the light brown loaf with smooth sides and place it inside the versatile skillet for stovetop cooking", + "Take the brown loaf with the right arm and drop into the heavy black cooking skillet", + "Pick the light brown loaf with smooth sides with the right arm and set it in the medium black pan with handle", + "Pick the bread with golden-brown crust off the table and place it in the solid dark-colored round pan.", + "Place the bread with golden-brown crust into the dark pan with sturdy grip with the right arm.", + "Use the right arm to lift the hand-sized oval loaf and place it into the round cooking pan.", + "Use the right arm to move the small loaf with curved top and set it into the solid dark-colored round pan.", + "Put the light brown bread with ridges into the flat-bottomed skillet with long handle after grabbing it", + "Take the hand-sized oval loaf and drop it into the heavy black cooking skillet.", + "Pick up the bread with split top with the right arm and drop it in the skillet with extended grip handle", + "Grab the smooth loaf with rounded edges and place it inside the skillet with extended grip handle", + "Move the brown loaf from table into the flat-bottomed skillet with long handle", + "Use the right arm to move the soft brown bread into the round pan with hole in handle", + "Pick up the soft brown bread and put it in the flat-bottomed skillet with long handle", + "Use the right arm to pick the hand-sized oval loaf and place it into the flat-bottomed skillet with long handle.", + "Use the right arm to set the small loaf with curved top into the smooth round pan made of iron.", + "Use the right arm to place the bread with warm golden color into the smooth round pan made of iron", + "Use the right arm to grab the light brown loaf with smooth sides and set it in the skillet with extended grip handle.", + "Place the hand-sized oval loaf into the medium black pan with handle using the right arm", + "Pick the brown loaf and set it into the black skillet with smooth base.", + "Lift the light brown bread with ridges using the right arm and move it to the flat-bottomed skillet with long handle", + "Pick the small loaf with curved top and transfer it to the versatile skillet for stovetop cooking", + "Grab the brown loaf using the right arm and place it in the round cooking pan", + "Grab the brown loaf from the table and set it in the versatile skillet for stovetop cooking.", + "Lift the small loaf with curved top and drop it into the dark pan with sturdy grip", + "Transfer the small loaf with curved top into the skillet with extended grip handle from the table", + "Grab the hand-sized oval loaf and place it inside the round cooking pan.", + "Take the light brown loaf with smooth sides off the table into the medium black pan with handle", + "Lift the soft brown bread and drop it into the flat-bottomed skillet with long handle.", + "Grab the bread with warm golden color and drop it into the versatile skillet for stovetop cooking", + "Move the golden bread loaf into the black pan with curved edges from the table", + "Take the light brown bread with ridges and put it in the dark pan with sturdy grip.", + "Grab the bread with golden-brown crust and stick it in the round pan with hole in handle.", + "Use the right arm to pick the hand-sized oval loaf up for the heavy black cooking skillet", + "Use the right arm to grab the small golden brown bread for the skillet with extended grip handle", + "Use the right arm to take the bread with golden-brown crust and move it into the versatile skillet for stovetop cooking.", + "Use the right arm to pick the smooth loaf with rounded edges and put it in the round pan with hole in handle", + "Move the golden bread loaf to the round cooking pan using the right arm", + "Take the light brown bread with ridges and put it in the medium black pan with handle.", + "Place the hand-sized oval loaf from the table into the heavy black cooking skillet", + "Grab the hand-sized oval loaf with the right arm and place in the skillet with extended grip handle", + "Use the right arm to grab the smooth loaf with rounded edges for the black skillet with smooth base", + "Take the bread with split top and set it into the flat-bottomed skillet with long handle", + "Put the light brown bread with ridges into the skillet with extended grip handle.", + "Use the right arm to pick the soft brown bread for the versatile skillet for stovetop cooking", + "Pick up the golden bread loaf and place it in the versatile skillet for stovetop cooking.", + "Pick the small loaf with curved top up using the right arm and drop it in the solid dark-colored round pan.", + "Use the right arm to stick the small loaf with curved top into the skillet with extended grip handle.", + "Take the bread with golden-brown crust and place it inside the solid dark-colored round pan", + "Set the brown loaf into the versatile skillet for stovetop cooking after grabbing", + "Take the small loaf with curved top and place it inside the black skillet with smooth base", + "Take the brown loaf with the right arm and drop into the black pan with curved edges", + "Pick the smooth loaf with rounded edges with the right arm and set it in the versatile skillet for stovetop cooking", + "Pick the golden bread loaf off the table and place it in the heavy black cooking skillet.", + "Place the light brown loaf with smooth sides into the flat-bottomed skillet with long handle with the right arm.", + "Use the right arm to lift the small loaf with curved top and place it into the flat-bottomed skillet with long handle.", + "Use the right arm to move the bread with golden-brown crust and set it into the round cooking pan.", + "Put the bread with split top into the round cooking pan after grabbing it", + "Take the soft brown bread and drop it into the dark pan with sturdy grip.", + "Pick up the hand-sized oval loaf with the right arm and drop it in the medium black pan with handle", + "Grab the brown loaf and place it inside the black pan with curved edges", + "Move the bread with split top from table into the smooth round pan made of iron", + "Use the right arm to move the small golden brown bread into the versatile skillet for stovetop cooking", + "Pick up the bread with split top and put it in the versatile skillet for stovetop cooking", + "Use the right arm to pick the small golden brown bread and place it into the smooth round pan made of iron.", + "Use the right arm to set the small loaf with curved top into the skillet with extended grip handle.", + "Use the right arm to place the bread with golden-brown crust into the solid dark-colored round pan", + "Use the right arm to grab the small golden brown bread and set it in the flat-bottomed skillet with long handle.", + "Place the hand-sized oval loaf into the medium black pan with handle using the right arm", + "Pick the bread with golden-brown crust and set it into the black skillet with smooth base." + ], + "unseen": [ + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Grab the oval bread and place it in the black skillet", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Pick the oval bread up and place it in the black skillet", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Grab the oval bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Use the right arm to move the oval bread to the iron skillet for frying foods.", + "Grab the oval bread and drop it into the iron skillet for frying foods.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Move the oval bread to the black skillet using the right arm.", + "Grab the oval bread and set it in the black skillet", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Use the right arm to move the oval bread to the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Pick the oval bread up and place it in the black skillet", + "Pick up the rounded oval bread and drop it into the black skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Take the rounded oval bread and put it in the black skillet", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Use the right arm to move the oval bread to the black skillet.", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Grab the rounded oval bread and place it into the black skillet.", + "Use the right arm to grab the oval bread and set it in the iron skillet for frying foods", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the rounded oval bread and place it into the black skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Grab the oval bread and drop it into the black skillet.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Grab the rounded oval bread and set it in the black skillet", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Take the oval bread and put it in the black skillet", + "Use the right arm to move the oval bread to the iron skillet for frying foods.", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Pick the rounded oval bread up and place it in the black skillet", + "Pick up the oval bread and drop it into the black skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode27.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..0b8e75f55e5049057ea44378e1adeda2c8b5785e --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the soft golden baked bread using the right arm and move it to the skillet with sturdy material", + "Grab the bread loaf with square shape and drop it into the black skillet", + "Grab the square loaf of bread with the right arm and place in the black skillet for frying foods", + "Pick the slice-shaped bread with the right arm and set it in the pan-shaped black skillet", + "Use the right arm to pick the bread loaf with square shape up for the medium skillet with rough outside", + "Pick the rectangular bread soft inside up using the right arm and drop it in the black skillet.", + "Use the right arm to move the golden bread and set it into the skillet with sturdy material.", + "Pick the golden brown loaf-shaped bread and transfer it to the black iron skillet for cooking", + "Set the rectangular bread soft inside into the black skillet for frying foods after grabbing", + "Pick up the soft golden baked bread with the right arm and drop it in the heavy cast iron skillet", + "Grab the bread loaf with square shape and place it inside the medium skillet with rough outside", + "Grab the square loaf of bread and stick it in the black skillet.", + "Pick the bread with rounded corners and set it into the skillet with wide round base.", + "Take the golden bread and set it into the heavy cast iron skillet", + "Pick the golden crusted bread slice off the table and place it in the skillet with sturdy material.", + "Take the bread with firm crust edges and place it inside the skillet with looped handle", + "Use the right arm to stick the bread with golden surface color into the pan-shaped black skillet.", + "Take the slice-shaped bread with the right arm and drop into the pan-shaped black skillet", + "Lift the golden bread and drop it into the pan-shaped black skillet.", + "Grab the bread with rounded corners using the right arm and place it in the black skillet", + "Use the right arm to move the bread with rounded corners into the medium skillet with rough outside", + "Use the right arm to place the golden bread into the black cooking tool skillet", + "Place the bread loaf with square shape into the black skillet using the right arm", + "Use the right arm to take the golden bread and move it into the skillet with looped handle.", + "Pick up the bread with rounded corners and put it in the black skillet with long handle", + "Use the right arm to pick the bread with golden surface color and place it into the black cooking tool skillet.", + "Move the bread loaf with square shape to the black skillet for frying foods using the right arm", + "Pick up the bread with firm crust edges and place it in the black iron skillet for cooking.", + "Grab the golden crusted bread slice and place it inside the black iron skillet for cooking.", + "Use the right arm to lift the brown bread loaf and place it into the black iron skillet for cooking.", + "Move the soft golden baked bread from table into the black skillet for frying foods", + "Use the right arm to pick the slice-shaped bread and put it in the skillet with looped handle", + "Place the bread with golden surface color from the table into the black skillet with long handle", + "Put the square loaf of bread into the heavy cast iron skillet after grabbing it", + "Take the bread with rounded corners and drop it into the pan-shaped black skillet.", + "Use the right arm to pick the slice-shaped bread for the medium skillet with rough outside", + "Transfer the bread with firm crust edges into the skillet with wide round base from the table", + "Use the right arm to set the slice-shaped bread into the flat-bottomed black cast iron skillet.", + "Grab the golden bread from the table and set it in the black skillet with long handle.", + "Take the soft golden baked bread and put it in the skillet with looped handle.", + "Take the bread with golden surface color off the table into the skillet with looped handle", + "Take the square loaf of bread and place it inside the black skillet", + "Take the soft golden baked bread and put it in the black iron skillet for cooking.", + "Put the slice-shaped bread into the black skillet.", + "Use the right arm to grab the golden bread for the medium skillet with rough outside", + "Place the golden bread into the skillet with wide round base with the right arm.", + "Use the right arm to grab the golden crusted bread slice for the black skillet with long handle", + "Move the brown bread loaf into the flat-bottomed black cast iron skillet from the table", + "Lift the bread with golden surface color and drop it into the skillet with sturdy material", + "Use the right arm to grab the square loaf of bread and set it in the medium skillet with rough outside.", + "Lift the slice-shaped bread using the right arm and move it to the skillet with sturdy material", + "Grab the slice-shaped bread and drop it into the heavy cast iron skillet", + "Grab the soft golden baked bread with the right arm and place in the heavy cast iron skillet", + "Pick the golden brown loaf-shaped bread with the right arm and set it in the medium skillet with rough outside", + "Use the right arm to pick the rectangular bread soft inside up for the heavy cast iron skillet", + "Pick the soft golden baked bread up using the right arm and drop it in the black skillet.", + "Use the right arm to move the square loaf of bread and set it into the medium skillet with rough outside.", + "Pick the bread with golden surface color and transfer it to the black skillet", + "Set the golden bread into the black cooking tool skillet after grabbing", + "Pick up the golden bread with the right arm and drop it in the black skillet", + "Grab the brown bread loaf and place it inside the heavy cast iron skillet", + "Grab the square loaf of bread and stick it in the heavy cast iron skillet.", + "Pick the bread with rounded corners and set it into the black skillet with long handle.", + "Take the golden bread and set it into the medium skillet with rough outside", + "Pick the golden crusted bread slice off the table and place it in the skillet with sturdy material.", + "Take the rectangular bread soft inside and place it inside the black skillet", + "Use the right arm to stick the slice-shaped bread into the black iron skillet for cooking.", + "Take the rectangular bread soft inside with the right arm and drop into the flat-bottomed black cast iron skillet", + "Lift the bread with firm crust edges and drop it into the medium skillet with rough outside.", + "Grab the bread loaf with square shape using the right arm and place it in the black iron skillet for cooking", + "Use the right arm to move the square loaf of bread into the black skillet for frying foods", + "Use the right arm to place the golden bread into the black skillet for frying foods", + "Place the soft golden baked bread into the medium skillet with rough outside using the right arm", + "Use the right arm to take the golden crusted bread slice and move it into the pan-shaped black skillet.", + "Pick up the bread with golden surface color and put it in the black skillet for frying foods", + "Use the right arm to pick the golden brown loaf-shaped bread and place it into the black cooking tool skillet.", + "Move the rectangular bread soft inside to the flat-bottomed black cast iron skillet using the right arm", + "Pick up the bread with rounded corners and place it in the skillet with wide round base.", + "Grab the golden bread and place it inside the black skillet.", + "Use the right arm to lift the bread loaf with square shape and place it into the flat-bottomed black cast iron skillet.", + "Move the golden crusted bread slice from table into the skillet with looped handle", + "Use the right arm to pick the bread with firm crust edges and put it in the heavy cast iron skillet", + "Place the square loaf of bread from the table into the medium skillet with rough outside", + "Put the soft golden baked bread into the black skillet for frying foods after grabbing it", + "Take the golden bread and drop it into the heavy cast iron skillet.", + "Use the right arm to pick the rectangular bread soft inside for the skillet with wide round base", + "Transfer the rectangular bread soft inside into the black iron skillet for cooking from the table", + "Use the right arm to set the bread with rounded corners into the black skillet with long handle.", + "Grab the soft golden baked bread from the table and set it in the black cooking tool skillet.", + "Take the square loaf of bread and put it in the black iron skillet for cooking.", + "Take the soft golden baked bread off the table into the black skillet for frying foods", + "Take the rectangular bread soft inside and place it inside the pan-shaped black skillet", + "Take the rectangular bread soft inside and put it in the flat-bottomed black cast iron skillet.", + "Put the rectangular bread soft inside into the skillet with wide round base.", + "Use the right arm to grab the rectangular bread soft inside for the skillet with sturdy material", + "Place the golden crusted bread slice into the black iron skillet for cooking with the right arm.", + "Use the right arm to grab the bread with firm crust edges for the skillet with sturdy material", + "Move the rectangular bread soft inside into the skillet with wide round base from the table", + "Lift the bread with golden surface color and drop it into the skillet with sturdy material", + "Use the right arm to grab the golden crusted bread slice and set it in the skillet with sturdy material." + ], + "unseen": [ + "Pick up the small loaf-shaped bread and drop it into the smooth interior skillet", + "Pick the bread loaf medium-sized up and place it in the smooth interior skillet", + "Grab the small loaf-shaped bread and place it in the medium black frying skillet", + "Take the small loaf-shaped bread and put it in the medium black frying skillet", + "Grab the small loaf-shaped bread and set it in the round black skillet", + "Grab the small loaf-shaped bread and place it into the smooth interior skillet.", + "Grab the soft rectangular bread loaf and drop it into the smooth interior skillet.", + "Use the right arm to move the bread loaf medium-sized to the smooth interior skillet.", + "Use the right arm to grab the bread loaf medium-sized and set it in the smooth interior skillet", + "Move the soft rectangular bread loaf to the smooth interior skillet using the right arm.", + "Pick up the soft rectangular bread loaf and drop it into the round black skillet", + "Pick the soft rectangular bread loaf up and place it in the medium black frying skillet", + "Grab the soft rectangular bread loaf and place it in the medium black frying skillet", + "Take the small loaf-shaped bread and put it in the round black skillet", + "Grab the soft rectangular bread loaf and set it in the round black skillet", + "Grab the bread loaf medium-sized and place it into the smooth interior skillet.", + "Grab the bread loaf medium-sized and drop it into the medium black frying skillet.", + "Use the right arm to move the soft rectangular bread loaf to the smooth interior skillet.", + "Use the right arm to grab the bread loaf medium-sized and set it in the round black skillet", + "Move the soft rectangular bread loaf to the round black skillet using the right arm.", + "Pick up the soft rectangular bread loaf and drop it into the round black skillet", + "Pick the bread loaf medium-sized up and place it in the medium black frying skillet", + "Grab the soft rectangular bread loaf and place it in the medium black frying skillet", + "Take the small loaf-shaped bread and put it in the medium black frying skillet", + "Grab the soft rectangular bread loaf and set it in the round black skillet", + "Grab the bread loaf medium-sized and place it into the round black skillet.", + "Grab the soft rectangular bread loaf and drop it into the smooth interior skillet.", + "Use the right arm to move the soft rectangular bread loaf to the round black skillet.", + "Use the right arm to grab the small loaf-shaped bread and set it in the smooth interior skillet", + "Move the bread loaf medium-sized to the round black skillet using the right arm.", + "Pick up the soft rectangular bread loaf and drop it into the medium black frying skillet", + "Pick the bread loaf medium-sized up and place it in the round black skillet", + "Grab the bread loaf medium-sized and place it in the round black skillet", + "Take the small loaf-shaped bread and put it in the medium black frying skillet", + "Grab the bread loaf medium-sized and set it in the round black skillet", + "Grab the bread loaf medium-sized and place it into the smooth interior skillet.", + "Grab the small loaf-shaped bread and drop it into the smooth interior skillet.", + "Use the right arm to move the small loaf-shaped bread to the medium black frying skillet.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the round black skillet", + "Move the bread loaf medium-sized to the smooth interior skillet using the right arm.", + "Pick up the soft rectangular bread loaf and drop it into the medium black frying skillet", + "Pick the small loaf-shaped bread up and place it in the medium black frying skillet", + "Grab the small loaf-shaped bread and place it in the medium black frying skillet", + "Take the soft rectangular bread loaf and put it in the smooth interior skillet", + "Grab the small loaf-shaped bread and set it in the smooth interior skillet", + "Grab the soft rectangular bread loaf and place it into the round black skillet.", + "Grab the bread loaf medium-sized and drop it into the medium black frying skillet.", + "Use the right arm to move the bread loaf medium-sized to the medium black frying skillet.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the round black skillet", + "Move the bread loaf medium-sized to the medium black frying skillet using the right arm.", + "Pick up the soft rectangular bread loaf and drop it into the smooth interior skillet", + "Pick the small loaf-shaped bread up and place it in the smooth interior skillet", + "Grab the bread loaf medium-sized and place it in the round black skillet", + "Take the bread loaf medium-sized and put it in the smooth interior skillet", + "Grab the bread loaf medium-sized and set it in the smooth interior skillet", + "Grab the bread loaf medium-sized and place it into the medium black frying skillet.", + "Grab the bread loaf medium-sized and drop it into the medium black frying skillet.", + "Use the right arm to move the soft rectangular bread loaf to the round black skillet.", + "Use the right arm to grab the small loaf-shaped bread and set it in the medium black frying skillet", + "Move the soft rectangular bread loaf to the medium black frying skillet using the right arm.", + "Pick up the bread loaf medium-sized and drop it into the round black skillet", + "Pick the small loaf-shaped bread up and place it in the medium black frying skillet", + "Grab the bread loaf medium-sized and place it in the round black skillet", + "Take the soft rectangular bread loaf and put it in the round black skillet", + "Grab the soft rectangular bread loaf and set it in the round black skillet", + "Grab the small loaf-shaped bread and place it into the medium black frying skillet.", + "Grab the bread loaf medium-sized and drop it into the smooth interior skillet.", + "Use the right arm to move the bread loaf medium-sized to the medium black frying skillet.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the medium black frying skillet", + "Move the bread loaf medium-sized to the round black skillet using the right arm.", + "Pick up the bread loaf medium-sized and drop it into the smooth interior skillet", + "Pick the small loaf-shaped bread up and place it in the round black skillet", + "Grab the small loaf-shaped bread and place it in the smooth interior skillet", + "Take the bread loaf medium-sized and put it in the smooth interior skillet", + "Grab the bread loaf medium-sized and set it in the medium black frying skillet", + "Grab the bread loaf medium-sized and place it into the smooth interior skillet.", + "Grab the soft rectangular bread loaf and drop it into the round black skillet.", + "Use the right arm to move the soft rectangular bread loaf to the medium black frying skillet.", + "Use the right arm to grab the small loaf-shaped bread and set it in the round black skillet", + "Move the soft rectangular bread loaf to the medium black frying skillet using the right arm.", + "Pick up the soft rectangular bread loaf and drop it into the medium black frying skillet", + "Pick the soft rectangular bread loaf up and place it in the medium black frying skillet", + "Grab the small loaf-shaped bread and place it in the round black skillet", + "Take the soft rectangular bread loaf and put it in the round black skillet", + "Grab the small loaf-shaped bread and set it in the medium black frying skillet", + "Grab the bread loaf medium-sized and place it into the medium black frying skillet.", + "Grab the small loaf-shaped bread and drop it into the round black skillet.", + "Use the right arm to move the small loaf-shaped bread to the smooth interior skillet.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the medium black frying skillet", + "Move the soft rectangular bread loaf to the smooth interior skillet using the right arm.", + "Pick up the soft rectangular bread loaf and drop it into the round black skillet", + "Pick the small loaf-shaped bread up and place it in the medium black frying skillet", + "Grab the bread loaf medium-sized and place it in the medium black frying skillet", + "Take the small loaf-shaped bread and put it in the medium black frying skillet", + "Grab the soft rectangular bread loaf and set it in the medium black frying skillet", + "Grab the small loaf-shaped bread and place it into the medium black frying skillet.", + "Grab the bread loaf medium-sized and drop it into the medium black frying skillet.", + "Use the right arm to move the bread loaf medium-sized to the medium black frying skillet.", + "Use the right arm to grab the bread loaf medium-sized and set it in the round black skillet", + "Move the small loaf-shaped bread to the medium black frying skillet using the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode28.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..0a8f7611bcdd92e46b2f08a721ee78ada5a10771 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bread with rough texture using the right arm and place it in the round skillet with handle", + "Place the light golden brown bread into the gray skillet for stovetop cooking using the right arm", + "Take the bread with rough texture with the right arm and drop into the black-surfaced skillet with gray sides", + "Take the golden bread off the table into the metal skillet", + "Grab the bread loaf with bumpy surface and drop it into the medium-sized frying skillet", + "Pick up the bread with rough texture and put it in the dark gray skillet", + "Use the right arm to grab the golden bread loaf and set it in the flat-bottom skillet.", + "Place the bread block with light patches into the smooth non-stick skillet with the right arm.", + "Use the right arm to stick the bread loaf with uneven edges into the round skillet with open handle end.", + "Grab the golden bread and place it inside the dark gray skillet", + "Put the bread loaf with uneven edges into the metal skillet after grabbing it", + "Move the square-shaped bread to the black-surfaced skillet with gray sides using the right arm", + "Grab the square-shaped bread and stick it in the metal skillet with comfortable grip.", + "Use the right arm to take the soft bread and move it into the round skillet with handle.", + "Take the golden bread and place it inside the skillet with black cooking surface", + "Move the bread loaf with bumpy surface from table into the metal skillet with comfortable grip", + "Take the doughy and soft bread and drop it into the metal skillet with comfortable grip.", + "Pick the bread loaf with bumpy surface with the right arm and set it in the skillet with black cooking surface", + "Use the right arm to grab the hand-sized bread block for the round skillet with open handle end", + "Move the bread with rough texture into the metal skillet from the table", + "Use the right arm to pick the light golden brown bread for the gray skillet for stovetop cooking", + "Use the right arm to move the bread loaf with bumpy surface into the round skillet with open handle end", + "Pick up the soft bread with the right arm and drop it in the gray skillet for stovetop cooking", + "Grab the golden bread loaf with the right arm and place in the black-surfaced skillet with gray sides", + "Pick up the bread block with light patches and place it in the medium-sized frying skillet.", + "Pick the bread block with light patches and transfer it to the medium-sized frying skillet", + "Use the right arm to pick the cuboid bread and place it into the smooth non-stick skillet.", + "Use the right arm to grab the square-shaped bread for the gray skillet for stovetop cooking", + "Use the right arm to lift the square-shaped bread and place it into the medium-sized frying skillet.", + "Set the golden bread loaf into the gray skillet for stovetop cooking after grabbing", + "Pick the bread loaf with bumpy surface off the table and place it in the smooth non-stick skillet.", + "Place the light golden brown bread from the table into the dark gray skillet", + "Take the bread block with light patches and place it inside the black-surfaced skillet with gray sides", + "Grab the soft bread from the table and set it in the black-surfaced skillet with gray sides.", + "Use the right arm to pick the bread with rough texture up for the black-surfaced skillet with gray sides", + "Put the bread with rough texture into the round skillet with open handle end.", + "Transfer the golden bread into the round skillet with handle from the table", + "Take the square-shaped bread and put it in the flat-bottom skillet.", + "Use the right arm to set the bread loaf with uneven edges into the round skillet with handle.", + "Grab the bread block with light patches and place it inside the round skillet with handle.", + "Lift the cuboid bread and drop it into the skillet with black cooking surface", + "Pick the cuboid bread and set it into the round skillet with open handle end.", + "Pick the light golden brown bread up using the right arm and drop it in the dark gray skillet.", + "Take the soft bread and set it into the round skillet with open handle end", + "Use the right arm to place the doughy and soft bread into the skillet for frying food", + "Lift the light golden brown bread using the right arm and move it to the metal skillet with comfortable grip", + "Take the square-shaped bread and put it in the round skillet with handle.", + "Use the right arm to pick the bread block with light patches and put it in the dark gray skillet", + "Lift the square-shaped bread and drop it into the metal skillet with comfortable grip.", + "Use the right arm to move the bread loaf with uneven edges and set it into the skillet with black cooking surface.", + "Grab the bread loaf with bumpy surface using the right arm and place it in the flat-bottom skillet", + "Place the golden bread loaf into the metal skillet using the right arm", + "Take the bread block with light patches with the right arm and drop into the dark gray skillet", + "Take the bread with rough texture off the table into the round skillet with handle", + "Grab the soft bread and drop it into the gray skillet for stovetop cooking", + "Pick up the golden bread and put it in the black-surfaced skillet with gray sides", + "Use the right arm to grab the bread block with light patches and set it in the skillet for frying food.", + "Place the doughy and soft bread into the smooth non-stick skillet with the right arm.", + "Use the right arm to stick the doughy and soft bread into the skillet with black cooking surface.", + "Grab the hand-sized bread block and place it inside the skillet for frying food", + "Put the bread with rough texture into the metal skillet with comfortable grip after grabbing it", + "Move the hand-sized bread block to the metal skillet using the right arm", + "Grab the golden bread and stick it in the flat-bottom skillet.", + "Use the right arm to take the bread loaf with uneven edges and move it into the flat-bottom skillet.", + "Take the doughy and soft bread and place it inside the round skillet with open handle end", + "Move the cuboid bread from table into the medium-sized frying skillet", + "Take the bread loaf with bumpy surface and drop it into the metal skillet.", + "Pick the bread loaf with bumpy surface with the right arm and set it in the skillet for frying food", + "Use the right arm to grab the bread loaf with bumpy surface for the metal skillet with comfortable grip", + "Move the bread block with light patches into the metal skillet from the table", + "Use the right arm to pick the light golden brown bread for the black-surfaced skillet with gray sides", + "Use the right arm to move the square-shaped bread into the metal skillet with comfortable grip", + "Pick up the soft bread with the right arm and drop it in the flat-bottom skillet", + "Grab the square-shaped bread with the right arm and place in the smooth non-stick skillet", + "Pick up the square-shaped bread and place it in the dark gray skillet.", + "Pick the bread loaf with bumpy surface and transfer it to the black-surfaced skillet with gray sides", + "Use the right arm to pick the bread with rough texture and place it into the skillet with black cooking surface.", + "Use the right arm to grab the doughy and soft bread for the smooth non-stick skillet", + "Use the right arm to lift the bread loaf with bumpy surface and place it into the smooth non-stick skillet.", + "Set the hand-sized bread block into the dark gray skillet after grabbing", + "Pick the cuboid bread off the table and place it in the gray skillet for stovetop cooking.", + "Place the bread loaf with bumpy surface from the table into the gray skillet for stovetop cooking", + "Take the golden bread loaf and place it inside the flat-bottom skillet", + "Grab the doughy and soft bread from the table and set it in the skillet for frying food.", + "Use the right arm to pick the golden bread up for the metal skillet", + "Put the doughy and soft bread into the metal skillet with comfortable grip.", + "Transfer the hand-sized bread block into the round skillet with handle from the table", + "Take the golden bread and put it in the flat-bottom skillet.", + "Use the right arm to set the doughy and soft bread into the metal skillet with comfortable grip.", + "Grab the doughy and soft bread and place it inside the gray skillet for stovetop cooking.", + "Lift the golden bread loaf and drop it into the metal skillet", + "Pick the bread loaf with bumpy surface and set it into the metal skillet.", + "Pick the doughy and soft bread up using the right arm and drop it in the gray skillet for stovetop cooking.", + "Take the bread loaf with bumpy surface and set it into the round skillet with handle", + "Use the right arm to place the light golden brown bread into the smooth non-stick skillet", + "Lift the bread block with light patches using the right arm and move it to the flat-bottom skillet", + "Take the cuboid bread and put it in the black-surfaced skillet with gray sides.", + "Use the right arm to pick the golden bread loaf and put it in the skillet for frying food", + "Lift the square-shaped bread and drop it into the dark gray skillet.", + "Use the right arm to move the cuboid bread and set it into the medium-sized frying skillet." + ], + "unseen": [ + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the right arm.", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode29.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..9247f4cc30d38a9f9c7ea1b032bec71a71a21a33 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick the bread with warm golden color and place it into the black pan with curved edges.", + "Take the light brown bread with ridges with the right arm and drop into the flat-bottomed skillet with long handle", + "Lift the hand-sized oval loaf and drop it into the solid dark-colored round pan", + "Use the right arm to take the soft brown bread and move it into the heavy black cooking skillet.", + "Use the right arm to place the brown loaf into the skillet with extended grip handle", + "Use the right arm to move the bread with golden-brown crust and set it into the skillet with extended grip handle.", + "Place the light brown bread with ridges into the heavy black cooking skillet with the right arm.", + "Pick up the small golden brown bread with the right arm and drop it in the smooth round pan made of iron", + "Lift the brown loaf using the right arm and move it to the heavy black cooking skillet", + "Set the hand-sized oval loaf into the round pan with hole in handle after grabbing", + "Place the light brown bread with ridges from the table into the medium black pan with handle", + "Take the soft brown bread and put it in the skillet with extended grip handle.", + "Pick the bread with warm golden color and transfer it to the medium black pan with handle", + "Move the brown loaf to the medium black pan with handle using the right arm", + "Pick the brown loaf up using the right arm and drop it in the dark pan with sturdy grip.", + "Grab the brown loaf and stick it in the flat-bottomed skillet with long handle.", + "Use the right arm to pick the bread with split top up for the skillet with extended grip handle", + "Take the golden bread loaf and put it in the medium black pan with handle.", + "Take the light brown loaf with smooth sides and place it inside the black pan with curved edges", + "Pick up the light brown bread with ridges and place it in the dark pan with sturdy grip.", + "Take the small loaf with curved top and place it inside the medium black pan with handle", + "Take the hand-sized oval loaf and drop it into the black skillet with smooth base.", + "Place the bread with golden-brown crust into the solid dark-colored round pan using the right arm", + "Grab the soft brown bread using the right arm and place it in the black pan with curved edges", + "Use the right arm to set the small golden brown bread into the flat-bottomed skillet with long handle.", + "Pick the golden bread loaf with the right arm and set it in the skillet with extended grip handle", + "Grab the smooth loaf with rounded edges and drop it into the round pan with hole in handle", + "Put the light brown loaf with smooth sides into the heavy black cooking skillet after grabbing it", + "Use the right arm to pick the golden bread loaf and put it in the black skillet with smooth base", + "Put the brown loaf into the black pan with curved edges.", + "Grab the small golden brown bread and place it inside the black pan with curved edges.", + "Use the right arm to grab the golden bread loaf for the flat-bottomed skillet with long handle", + "Grab the hand-sized oval loaf and place it inside the round cooking pan", + "Pick the smooth loaf with rounded edges and set it into the smooth round pan made of iron.", + "Move the light brown bread with ridges from table into the smooth round pan made of iron", + "Pick up the small golden brown bread and put it in the skillet with extended grip handle", + "Lift the bread with golden-brown crust and drop it into the skillet with extended grip handle.", + "Use the right arm to grab the golden bread loaf and set it in the heavy black cooking skillet.", + "Use the right arm to stick the light brown bread with ridges into the round cooking pan.", + "Grab the light brown bread with ridges from the table and set it in the round cooking pan.", + "Move the soft brown bread into the smooth round pan made of iron from the table", + "Grab the soft brown bread with the right arm and place in the versatile skillet for stovetop cooking", + "Take the light brown bread with ridges and set it into the versatile skillet for stovetop cooking", + "Take the light brown bread with ridges off the table into the dark pan with sturdy grip", + "Use the right arm to pick the light brown loaf with smooth sides for the black pan with curved edges", + "Pick the small golden brown bread off the table and place it in the solid dark-colored round pan.", + "Use the right arm to move the golden bread loaf into the round cooking pan", + "Use the right arm to lift the bread with warm golden color and place it into the black pan with curved edges.", + "Transfer the small loaf with curved top into the medium black pan with handle from the table", + "Use the right arm to grab the soft brown bread for the versatile skillet for stovetop cooking", + "Use the right arm to pick the light brown loaf with smooth sides and place it into the black skillet with smooth base.", + "Take the bread with split top with the right arm and drop into the versatile skillet for stovetop cooking", + "Lift the bread with split top and drop it into the dark pan with sturdy grip", + "Use the right arm to take the small golden brown bread and move it into the heavy black cooking skillet.", + "Use the right arm to place the light brown loaf with smooth sides into the solid dark-colored round pan", + "Use the right arm to move the bread with golden-brown crust and set it into the medium black pan with handle.", + "Place the bread with golden-brown crust into the flat-bottomed skillet with long handle with the right arm.", + "Pick up the light brown loaf with smooth sides with the right arm and drop it in the medium black pan with handle", + "Lift the small loaf with curved top using the right arm and move it to the skillet with extended grip handle", + "Set the bread with warm golden color into the smooth round pan made of iron after grabbing", + "Place the small loaf with curved top from the table into the dark pan with sturdy grip", + "Take the brown loaf and put it in the versatile skillet for stovetop cooking.", + "Pick the small golden brown bread and transfer it to the flat-bottomed skillet with long handle", + "Move the light brown loaf with smooth sides to the medium black pan with handle using the right arm", + "Pick the bread with golden-brown crust up using the right arm and drop it in the black skillet with smooth base.", + "Grab the bread with warm golden color and stick it in the black skillet with smooth base.", + "Use the right arm to pick the smooth loaf with rounded edges up for the flat-bottomed skillet with long handle", + "Take the light brown loaf with smooth sides and put it in the round cooking pan.", + "Take the bread with split top and place it inside the flat-bottomed skillet with long handle", + "Pick up the bread with split top and place it in the medium black pan with handle.", + "Take the light brown loaf with smooth sides and place it inside the black skillet with smooth base", + "Take the small loaf with curved top and drop it into the heavy black cooking skillet.", + "Place the hand-sized oval loaf into the versatile skillet for stovetop cooking using the right arm", + "Grab the bread with warm golden color using the right arm and place it in the round cooking pan", + "Use the right arm to set the bread with split top into the solid dark-colored round pan.", + "Pick the small golden brown bread with the right arm and set it in the smooth round pan made of iron", + "Grab the brown loaf and drop it into the round cooking pan", + "Put the soft brown bread into the smooth round pan made of iron after grabbing it", + "Use the right arm to pick the brown loaf and put it in the flat-bottomed skillet with long handle", + "Put the brown loaf into the round cooking pan.", + "Grab the light brown loaf with smooth sides and place it inside the flat-bottomed skillet with long handle.", + "Use the right arm to grab the light brown loaf with smooth sides for the smooth round pan made of iron", + "Grab the light brown bread with ridges and place it inside the smooth round pan made of iron", + "Pick the bread with split top and set it into the dark pan with sturdy grip.", + "Move the smooth loaf with rounded edges from table into the smooth round pan made of iron", + "Pick up the bread with split top and put it in the round pan with hole in handle", + "Lift the light brown loaf with smooth sides and drop it into the versatile skillet for stovetop cooking.", + "Use the right arm to grab the golden bread loaf and set it in the dark pan with sturdy grip.", + "Use the right arm to stick the golden bread loaf into the black pan with curved edges.", + "Grab the bread with golden-brown crust from the table and set it in the versatile skillet for stovetop cooking.", + "Move the bread with split top into the skillet with extended grip handle from the table", + "Grab the small loaf with curved top with the right arm and place in the versatile skillet for stovetop cooking", + "Take the light brown bread with ridges and set it into the black skillet with smooth base", + "Take the bread with split top off the table into the black skillet with smooth base", + "Use the right arm to pick the smooth loaf with rounded edges for the flat-bottomed skillet with long handle", + "Pick the light brown bread with ridges off the table and place it in the dark pan with sturdy grip.", + "Use the right arm to move the bread with split top into the versatile skillet for stovetop cooking", + "Use the right arm to lift the golden bread loaf and place it into the black skillet with smooth base.", + "Transfer the small golden brown bread into the round cooking pan from the table", + "Use the right arm to grab the golden bread loaf for the medium black pan with handle" + ], + "unseen": [ + "Use the right arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it into the black skillet.", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Grab the rounded oval bread and set it in the black skillet", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it in the black skillet", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Move the rounded oval bread to the black skillet using the right arm.", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it in the black skillet", + "Use the right arm to move the oval bread to the iron skillet for frying foods.", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the black skillet", + "Pick the oval bread up and place it in the black skillet", + "Grab the oval bread and place it in the round cast-iron skillet", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Take the oval-shaped soft bread and put it in the black skillet", + "Grab the oval bread and place it into the black skillet.", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Pick the rounded oval bread up and place it in the black skillet", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Use the right arm to move the rounded oval bread to the black skillet.", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Take the oval bread and put it in the iron skillet for frying foods", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Grab the rounded oval bread and drop it into the black skillet.", + "Grab the oval bread and set it in the round cast-iron skillet", + "Pick up the oval bread and drop it into the black skillet", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Grab the oval bread and place it in the round cast-iron skillet", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Grab the oval bread and set it in the round cast-iron skillet", + "Pick up the oval bread and drop it into the black skillet", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it in the black skillet", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Move the oval bread to the round cast-iron skillet using the right arm.", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Grab the oval bread and drop it into the black skillet.", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Grab the oval bread and place it in the round cast-iron skillet", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Grab the rounded oval bread and drop it into the black skillet.", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Use the right arm to move the oval bread to the black skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Grab the rounded oval bread and drop it into the black skillet.", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Use the right arm to move the oval bread to the black skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode3.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..6e3691d78a86a085c939e79a7379bc7d125ac125 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the bread loaf with bumpy surface and set it into the flat-bottomed black cast iron skillet.", + "Pick the bread loaf with bumpy surface off the table and place it in the skillet with looped handle.", + "Take the bread loaf with uneven edges and place it inside the black skillet for frying foods", + "Grab the square-shaped bread from the table and set it in the black skillet with long handle.", + "Grab the golden bread using the left arm and place it in the black cooking tool skillet", + "Take the cuboid bread and put it in the pan-shaped black skillet.", + "Take the golden bread and put it in the skillet with sturdy material.", + "Use the left arm to grab the light golden brown bread for the heavy cast iron skillet", + "Use the left arm to pick the hand-sized bread block up for the black skillet", + "Use the left arm to grab the doughy and soft bread and set it in the skillet with looped handle.", + "Place the light golden brown bread into the pan-shaped black skillet using the left arm", + "Set the square-shaped bread into the skillet with looped handle after grabbing", + "Take the hand-sized bread block off the table into the black skillet", + "Lift the soft bread and drop it into the flat-bottomed black cast iron skillet.", + "Use the left arm to take the doughy and soft bread and move it into the black cooking tool skillet.", + "Use the left arm to pick the bread loaf with bumpy surface and put it in the black skillet with long handle", + "Move the bread block with light patches to the heavy cast iron skillet using the left arm", + "Use the left arm to place the bread with rough texture into the medium skillet with rough outside", + "Use the left arm to lift the soft bread and place it into the black cooking tool skillet.", + "Take the hand-sized bread block and set it into the skillet with sturdy material", + "Use the left arm to grab the golden bread loaf for the heavy cast iron skillet", + "Use the left arm to move the bread block with light patches into the pan-shaped black skillet", + "Move the square-shaped bread from table into the pan-shaped black skillet", + "Pick up the cuboid bread and put it in the skillet with looped handle", + "Lift the light golden brown bread using the left arm and move it to the skillet with sturdy material", + "Pick the bread with rough texture and transfer it to the pan-shaped black skillet", + "Pick up the soft bread with the left arm and drop it in the pan-shaped black skillet", + "Grab the bread with rough texture and place it inside the black cooking tool skillet.", + "Use the left arm to pick the hand-sized bread block for the black cooking tool skillet", + "Grab the light golden brown bread and drop it into the skillet with looped handle", + "Use the left arm to set the light golden brown bread into the skillet with wide round base.", + "Grab the soft bread with the left arm and place in the black iron skillet for cooking", + "Pick up the bread loaf with bumpy surface and place it in the skillet with sturdy material.", + "Move the hand-sized bread block into the heavy cast iron skillet from the table", + "Transfer the bread with rough texture into the black skillet for frying foods from the table", + "Lift the bread loaf with uneven edges and drop it into the black skillet with long handle", + "Take the cuboid bread and place it inside the skillet with wide round base", + "Grab the bread block with light patches and place it inside the skillet with wide round base", + "Take the bread block with light patches and drop it into the pan-shaped black skillet.", + "Take the doughy and soft bread with the left arm and drop into the medium skillet with rough outside", + "Grab the golden bread and stick it in the skillet with sturdy material.", + "Place the bread with rough texture into the black skillet with the left arm.", + "Use the left arm to move the bread loaf with bumpy surface and set it into the pan-shaped black skillet.", + "Use the left arm to stick the bread block with light patches into the medium skillet with rough outside.", + "Put the golden bread loaf into the black skillet after grabbing it", + "Put the hand-sized bread block into the black iron skillet for cooking.", + "Place the light golden brown bread from the table into the heavy cast iron skillet", + "Use the left arm to pick the golden bread loaf and place it into the black skillet for frying foods.", + "Pick the square-shaped bread with the left arm and set it in the flat-bottomed black cast iron skillet", + "Pick the golden bread loaf up using the left arm and drop it in the black iron skillet for cooking.", + "Pick the doughy and soft bread and set it into the skillet with sturdy material.", + "Pick the light golden brown bread off the table and place it in the pan-shaped black skillet.", + "Take the square-shaped bread and place it inside the black skillet with long handle", + "Grab the cuboid bread from the table and set it in the black cooking tool skillet.", + "Grab the bread loaf with uneven edges using the left arm and place it in the pan-shaped black skillet", + "Take the bread loaf with bumpy surface and put it in the black skillet for frying foods.", + "Take the bread loaf with bumpy surface and put it in the skillet with sturdy material.", + "Use the left arm to grab the square-shaped bread for the medium skillet with rough outside", + "Use the left arm to pick the bread loaf with uneven edges up for the heavy cast iron skillet", + "Use the left arm to grab the bread loaf with uneven edges and set it in the black skillet.", + "Place the light golden brown bread into the black skillet with long handle using the left arm", + "Set the golden bread loaf into the heavy cast iron skillet after grabbing", + "Take the light golden brown bread off the table into the black skillet", + "Lift the square-shaped bread and drop it into the black skillet.", + "Use the left arm to take the bread loaf with bumpy surface and move it into the black skillet for frying foods.", + "Use the left arm to pick the light golden brown bread and put it in the skillet with looped handle", + "Move the bread block with light patches to the black skillet with long handle using the left arm", + "Use the left arm to place the square-shaped bread into the black skillet", + "Use the left arm to lift the square-shaped bread and place it into the black skillet.", + "Take the square-shaped bread and set it into the skillet with sturdy material", + "Use the left arm to grab the golden bread loaf for the black skillet for frying foods", + "Use the left arm to move the square-shaped bread into the skillet with wide round base", + "Move the golden bread from table into the black skillet with long handle", + "Pick up the cuboid bread and put it in the pan-shaped black skillet", + "Lift the square-shaped bread using the left arm and move it to the skillet with sturdy material", + "Pick the hand-sized bread block and transfer it to the pan-shaped black skillet", + "Pick up the square-shaped bread with the left arm and drop it in the black skillet with long handle", + "Grab the light golden brown bread and place it inside the pan-shaped black skillet.", + "Use the left arm to pick the bread loaf with bumpy surface for the medium skillet with rough outside", + "Grab the golden bread and drop it into the black skillet", + "Use the left arm to set the golden bread loaf into the heavy cast iron skillet.", + "Grab the soft bread with the left arm and place in the flat-bottomed black cast iron skillet", + "Pick up the bread block with light patches and place it in the skillet with wide round base.", + "Move the light golden brown bread into the black iron skillet for cooking from the table", + "Transfer the soft bread into the black skillet for frying foods from the table", + "Lift the light golden brown bread and drop it into the pan-shaped black skillet", + "Take the golden bread and place it inside the black iron skillet for cooking", + "Grab the golden bread loaf and place it inside the skillet with looped handle", + "Take the bread block with light patches and drop it into the skillet with sturdy material.", + "Take the golden bread loaf with the left arm and drop into the skillet with wide round base", + "Grab the cuboid bread and stick it in the medium skillet with rough outside.", + "Place the bread block with light patches into the skillet with wide round base with the left arm.", + "Use the left arm to move the doughy and soft bread and set it into the heavy cast iron skillet.", + "Use the left arm to stick the golden bread loaf into the skillet with wide round base.", + "Put the bread loaf with uneven edges into the pan-shaped black skillet after grabbing it", + "Put the golden bread loaf into the black iron skillet for cooking.", + "Place the light golden brown bread from the table into the black skillet for frying foods", + "Use the left arm to pick the cuboid bread and place it into the skillet with sturdy material.", + "Pick the hand-sized bread block with the left arm and set it in the black skillet with long handle", + "Pick the doughy and soft bread up using the left arm and drop it in the black skillet with long handle." + ], + "unseen": [ + "Grab the bread with golden crust and place it in the round black skillet", + "Grab the bread loaf with soft surface and place it into the round black skillet.", + "Pick the rectangular bread loaf up and place it in the medium black frying skillet", + "Grab the rectangular bread loaf and set it in the round black skillet", + "Pick up the rectangular bread loaf and drop it into the smooth interior skillet", + "Move the bread with golden crust to the round black skillet using the left arm.", + "Use the left arm to move the bread with golden crust to the smooth interior skillet.", + "Use the left arm to grab the rectangular bread loaf and set it in the smooth interior skillet", + "Grab the rectangular bread loaf and drop it into the medium black frying skillet.", + "Take the rectangular bread loaf and put it in the medium black frying skillet", + "Grab the bread with golden crust and place it in the medium black frying skillet", + "Grab the rectangular bread loaf and place it into the smooth interior skillet.", + "Pick the bread loaf with soft surface up and place it in the round black skillet", + "Grab the bread loaf with soft surface and set it in the medium black frying skillet", + "Pick up the rectangular bread loaf and drop it into the round black skillet", + "Move the bread with golden crust to the round black skillet using the left arm.", + "Use the left arm to move the rectangular bread loaf to the smooth interior skillet.", + "Use the left arm to grab the rectangular bread loaf and set it in the smooth interior skillet", + "Grab the bread with golden crust and drop it into the smooth interior skillet.", + "Take the rectangular bread loaf and put it in the medium black frying skillet", + "Grab the bread with golden crust and place it in the round black skillet", + "Grab the bread loaf with soft surface and place it into the medium black frying skillet.", + "Pick the bread loaf with soft surface up and place it in the smooth interior skillet", + "Grab the bread loaf with soft surface and set it in the smooth interior skillet", + "Pick up the bread loaf with soft surface and drop it into the smooth interior skillet", + "Move the rectangular bread loaf to the smooth interior skillet using the left arm.", + "Use the left arm to move the bread loaf with soft surface to the medium black frying skillet.", + "Use the left arm to grab the bread with golden crust and set it in the medium black frying skillet", + "Grab the rectangular bread loaf and drop it into the smooth interior skillet.", + "Take the bread loaf with soft surface and put it in the smooth interior skillet", + "Grab the bread loaf with soft surface and place it in the medium black frying skillet", + "Grab the bread loaf with soft surface and place it into the smooth interior skillet.", + "Pick the bread loaf with soft surface up and place it in the smooth interior skillet", + "Grab the bread with golden crust and set it in the medium black frying skillet", + "Pick up the bread loaf with soft surface and drop it into the round black skillet", + "Move the bread with golden crust to the round black skillet using the left arm.", + "Use the left arm to move the bread loaf with soft surface to the smooth interior skillet.", + "Use the left arm to grab the bread loaf with soft surface and set it in the medium black frying skillet", + "Grab the bread with golden crust and drop it into the round black skillet.", + "Take the bread loaf with soft surface and put it in the round black skillet", + "Grab the bread with golden crust and place it in the round black skillet", + "Grab the rectangular bread loaf and place it into the round black skillet.", + "Pick the bread loaf with soft surface up and place it in the medium black frying skillet", + "Grab the bread with golden crust and set it in the medium black frying skillet", + "Pick up the bread loaf with soft surface and drop it into the medium black frying skillet", + "Move the bread with golden crust to the smooth interior skillet using the left arm.", + "Use the left arm to move the rectangular bread loaf to the smooth interior skillet.", + "Use the left arm to grab the bread with golden crust and set it in the round black skillet", + "Grab the bread loaf with soft surface and drop it into the smooth interior skillet.", + "Take the bread with golden crust and put it in the smooth interior skillet", + "Grab the bread loaf with soft surface and place it in the round black skillet", + "Grab the bread loaf with soft surface and place it into the medium black frying skillet.", + "Pick the bread loaf with soft surface up and place it in the medium black frying skillet", + "Grab the rectangular bread loaf and set it in the smooth interior skillet", + "Pick up the bread loaf with soft surface and drop it into the smooth interior skillet", + "Move the bread with golden crust to the medium black frying skillet using the left arm.", + "Use the left arm to move the bread loaf with soft surface to the smooth interior skillet.", + "Use the left arm to grab the rectangular bread loaf and set it in the round black skillet", + "Grab the bread with golden crust and drop it into the round black skillet.", + "Take the bread loaf with soft surface and put it in the round black skillet", + "Grab the rectangular bread loaf and place it in the smooth interior skillet", + "Grab the bread with golden crust and place it into the medium black frying skillet.", + "Pick the bread loaf with soft surface up and place it in the round black skillet", + "Grab the bread loaf with soft surface and set it in the medium black frying skillet", + "Pick up the bread with golden crust and drop it into the smooth interior skillet", + "Move the bread with golden crust to the round black skillet using the left arm.", + "Use the left arm to move the bread with golden crust to the round black skillet.", + "Use the left arm to grab the bread with golden crust and set it in the round black skillet", + "Grab the bread loaf with soft surface and drop it into the medium black frying skillet.", + "Take the rectangular bread loaf and put it in the round black skillet", + "Grab the bread with golden crust and place it in the smooth interior skillet", + "Grab the bread with golden crust and place it into the round black skillet.", + "Pick the bread with golden crust up and place it in the medium black frying skillet", + "Grab the bread loaf with soft surface and set it in the round black skillet", + "Pick up the rectangular bread loaf and drop it into the smooth interior skillet", + "Move the rectangular bread loaf to the round black skillet using the left arm.", + "Use the left arm to move the bread loaf with soft surface to the smooth interior skillet.", + "Use the left arm to grab the bread with golden crust and set it in the smooth interior skillet", + "Grab the bread with golden crust and drop it into the round black skillet.", + "Take the bread loaf with soft surface and put it in the round black skillet", + "Grab the rectangular bread loaf and place it in the medium black frying skillet", + "Grab the bread with golden crust and place it into the medium black frying skillet.", + "Pick the rectangular bread loaf up and place it in the smooth interior skillet", + "Grab the bread with golden crust and set it in the medium black frying skillet", + "Pick up the bread loaf with soft surface and drop it into the smooth interior skillet", + "Move the bread loaf with soft surface to the smooth interior skillet using the left arm.", + "Use the left arm to move the bread loaf with soft surface to the round black skillet.", + "Use the left arm to grab the bread with golden crust and set it in the medium black frying skillet", + "Grab the rectangular bread loaf and drop it into the round black skillet.", + "Take the bread loaf with soft surface and put it in the smooth interior skillet", + "Grab the bread with golden crust and place it in the smooth interior skillet", + "Grab the bread with golden crust and place it into the round black skillet.", + "Pick the bread loaf with soft surface up and place it in the medium black frying skillet", + "Grab the bread with golden crust and set it in the medium black frying skillet", + "Pick up the bread loaf with soft surface and drop it into the smooth interior skillet", + "Move the rectangular bread loaf to the round black skillet using the left arm.", + "Use the left arm to move the bread loaf with soft surface to the smooth interior skillet.", + "Use the left arm to grab the bread loaf with soft surface and set it in the round black skillet", + "Grab the rectangular bread loaf and drop it into the smooth interior skillet.", + "Take the bread loaf with soft surface and put it in the smooth interior skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode30.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..243f36d778fa1c5793add7324c5fd989bccff50c --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick the doughy and soft bread up for the gray cooking pan with handle", + "Use the right arm to grab the doughy and soft bread for the round skillet with handle", + "Put the doughy and soft bread into the smooth cast iron skillet after grabbing it", + "Pick the bread loaf with uneven edges off the table and place it in the rounded skillet with a holey handle.", + "Take the doughy and soft bread and put it in the rounded skillet with a holey handle.", + "Lift the light golden brown bread using the right arm and move it to the smooth cast iron skillet", + "Pick up the bread loaf with uneven edges with the right arm and drop it in the hefty black skillet", + "Take the doughy and soft bread and put it in the dark gray skillet.", + "Pick the cuboid bread with the right arm and set it in the rounded skillet with a holey handle", + "Pick up the golden bread and put it in the dark gray skillet", + "Use the right arm to pick the cuboid bread and put it in the smooth round cooking skillet", + "Take the bread loaf with bumpy surface and place it inside the gray pan", + "Move the soft bread from table into the hefty black skillet", + "Grab the doughy and soft bread and stick it in the hefty black skillet.", + "Take the golden bread loaf and place it inside the pan with dark finish", + "Move the hand-sized bread block into the medium skillet from the table", + "Grab the doughy and soft bread with the right arm and place in the gray pan", + "Grab the square-shaped bread from the table and set it in the gray cooking pan with handle.", + "Pick the hand-sized bread block and transfer it to the rounded skillet with a holey handle", + "Use the right arm to grab the square-shaped bread for the dark gray skillet", + "Pick the bread loaf with uneven edges and set it into the pan with dark finish.", + "Place the bread loaf with bumpy surface from the table into the medium skillet", + "Grab the light golden brown bread and drop it into the medium skillet", + "Place the square-shaped bread into the skillet for cooking using the right arm", + "Use the right arm to lift the doughy and soft bread and place it into the hefty black skillet.", + "Grab the golden bread loaf and place it inside the medium skillet", + "Lift the doughy and soft bread and drop it into the round skillet with handle.", + "Put the light golden brown bread into the smooth cast iron skillet.", + "Use the right arm to pick the hand-sized bread block and place it into the rounded skillet with a holey handle.", + "Use the right arm to grab the bread with rough texture and set it in the smooth cast iron skillet.", + "Use the right arm to stick the golden bread loaf into the medium round cast iron skillet.", + "Transfer the bread with rough texture into the smooth round cooking skillet from the table", + "Grab the light golden brown bread and place it inside the rounded skillet with a holey handle.", + "Place the light golden brown bread into the round skillet with handle with the right arm.", + "Use the right arm to take the light golden brown bread and move it into the medium round cast iron skillet.", + "Take the doughy and soft bread with the right arm and drop into the medium round cast iron skillet", + "Lift the light golden brown bread and drop it into the rounded skillet with a holey handle", + "Use the right arm to pick the bread with rough texture for the hefty black skillet", + "Move the soft bread to the gray cooking pan with handle using the right arm", + "Use the right arm to move the cuboid bread and set it into the round skillet with handle.", + "Use the right arm to move the bread loaf with bumpy surface into the round skillet with handle", + "Pick the soft bread up using the right arm and drop it in the dark gray skillet.", + "Take the bread loaf with uneven edges and drop it into the medium skillet.", + "Take the light golden brown bread and set it into the smooth cast iron skillet", + "Take the hand-sized bread block off the table into the skillet for cooking", + "Grab the soft bread using the right arm and place it in the gray pan", + "Use the right arm to place the light golden brown bread into the gray cooking pan with handle", + "Use the right arm to set the bread loaf with uneven edges into the smooth round cooking skillet.", + "Pick up the cuboid bread and place it in the medium skillet.", + "Set the golden bread into the skillet for cooking after grabbing", + "Use the right arm to pick the square-shaped bread up for the skillet for cooking", + "Use the right arm to grab the cuboid bread for the medium skillet", + "Put the bread loaf with uneven edges into the medium round cast iron skillet after grabbing it", + "Pick the doughy and soft bread off the table and place it in the round skillet with handle.", + "Take the soft bread and put it in the hefty black skillet.", + "Lift the hand-sized bread block using the right arm and move it to the skillet for cooking", + "Pick up the bread with rough texture with the right arm and drop it in the dark gray skillet", + "Take the golden bread and put it in the skillet for cooking.", + "Pick the soft bread with the right arm and set it in the dark gray skillet", + "Pick up the bread loaf with uneven edges and put it in the smooth cast iron skillet", + "Use the right arm to pick the golden bread and put it in the smooth round cooking skillet", + "Take the golden bread and place it inside the pan with dark finish", + "Move the light golden brown bread from table into the gray cooking pan with handle", + "Grab the bread with rough texture and stick it in the smooth cast iron skillet.", + "Take the soft bread and place it inside the medium round cast iron skillet", + "Move the bread with rough texture into the dark gray skillet from the table", + "Grab the golden bread loaf with the right arm and place in the gray cooking pan with handle", + "Grab the bread with rough texture from the table and set it in the dark gray skillet.", + "Pick the square-shaped bread and transfer it to the skillet for cooking", + "Use the right arm to grab the bread loaf with uneven edges for the pan with dark finish", + "Pick the bread with rough texture and set it into the medium round cast iron skillet.", + "Place the cuboid bread from the table into the dark gray skillet", + "Grab the bread block with light patches and drop it into the hefty black skillet", + "Place the cuboid bread into the gray pan using the right arm", + "Use the right arm to lift the cuboid bread and place it into the smooth cast iron skillet.", + "Grab the light golden brown bread and place it inside the rounded skillet with a holey handle", + "Lift the bread loaf with bumpy surface and drop it into the gray pan.", + "Put the square-shaped bread into the gray cooking pan with handle.", + "Use the right arm to pick the light golden brown bread and place it into the dark gray skillet.", + "Use the right arm to grab the soft bread and set it in the hefty black skillet.", + "Use the right arm to stick the bread loaf with bumpy surface into the hefty black skillet.", + "Transfer the bread loaf with uneven edges into the medium round cast iron skillet from the table", + "Grab the square-shaped bread and place it inside the pan with dark finish.", + "Place the bread loaf with bumpy surface into the round skillet with handle with the right arm.", + "Use the right arm to take the hand-sized bread block and move it into the medium skillet.", + "Take the hand-sized bread block with the right arm and drop into the smooth round cooking skillet", + "Lift the bread loaf with bumpy surface and drop it into the pan with dark finish", + "Use the right arm to pick the bread with rough texture for the dark gray skillet", + "Move the cuboid bread to the gray pan using the right arm", + "Use the right arm to move the doughy and soft bread and set it into the gray cooking pan with handle.", + "Use the right arm to move the bread loaf with bumpy surface into the gray pan", + "Pick the square-shaped bread up using the right arm and drop it in the hefty black skillet.", + "Take the square-shaped bread and drop it into the gray cooking pan with handle.", + "Take the bread loaf with bumpy surface and set it into the smooth round cooking skillet", + "Take the bread with rough texture off the table into the gray pan", + "Grab the soft bread using the right arm and place it in the smooth round cooking skillet", + "Use the right arm to place the bread loaf with bumpy surface into the smooth round cooking skillet", + "Use the right arm to set the bread loaf with bumpy surface into the pan with dark finish.", + "Pick up the bread block with light patches and place it in the medium skillet.", + "Set the golden bread into the smooth round cooking skillet after grabbing" + ], + "unseen": [ + "Take the rectangular bread loaf and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it in the dark gray round cast iron pan", + "Move the bread with golden crust to the dark gray round cast iron pan using the right arm.", + "Pick up the bread with golden crust and drop it into the blackish-gray cast iron skillet", + "Pick the rectangular bread loaf up and place it in the cooking skillet with grippy handle", + "Use the right arm to move the bread loaf with soft surface to the dark gray round cast iron pan.", + "Grab the rectangular bread loaf and place it into the dark gray round cast iron pan.", + "Grab the bread loaf with soft surface and drop it into the dark gray round cast iron pan.", + "Take the rectangular bread loaf and put it in the blackish-gray cast iron skillet", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it in the dark gray round cast iron pan", + "Move the bread loaf with soft surface to the cooking skillet with grippy handle using the right arm.", + "Pick up the rectangular bread loaf and drop it into the cooking skillet with grippy handle", + "Pick the bread with golden crust up and place it in the blackish-gray cast iron skillet", + "Use the right arm to move the rectangular bread loaf to the blackish-gray cast iron skillet.", + "Grab the rectangular bread loaf and place it into the dark gray round cast iron pan.", + "Grab the rectangular bread loaf and drop it into the cooking skillet with grippy handle.", + "Take the bread with golden crust and put it in the blackish-gray cast iron skillet", + "Use the right arm to grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and place it in the dark gray round cast iron pan", + "Move the bread loaf with soft surface to the cooking skillet with grippy handle using the right arm.", + "Pick up the bread loaf with soft surface and drop it into the dark gray round cast iron pan", + "Pick the bread with golden crust up and place it in the cooking skillet with grippy handle", + "Use the right arm to move the rectangular bread loaf to the dark gray round cast iron pan.", + "Grab the bread loaf with soft surface and place it into the dark gray round cast iron pan.", + "Grab the bread with golden crust and drop it into the dark gray round cast iron pan.", + "Take the bread with golden crust and put it in the blackish-gray cast iron skillet", + "Use the right arm to grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Grab the bread with golden crust and place it in the cooking skillet with grippy handle", + "Move the rectangular bread loaf to the dark gray round cast iron pan using the right arm.", + "Pick up the bread loaf with soft surface and drop it into the cooking skillet with grippy handle", + "Pick the bread loaf with soft surface up and place it in the blackish-gray cast iron skillet", + "Use the right arm to move the bread with golden crust to the dark gray round cast iron pan.", + "Grab the rectangular bread loaf and place it into the blackish-gray cast iron skillet.", + "Grab the bread loaf with soft surface and drop it into the cooking skillet with grippy handle.", + "Take the bread with golden crust and put it in the dark gray round cast iron pan", + "Use the right arm to grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and place it in the cooking skillet with grippy handle", + "Move the bread with golden crust to the dark gray round cast iron pan using the right arm.", + "Pick up the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet", + "Pick the bread loaf with soft surface up and place it in the blackish-gray cast iron skillet", + "Use the right arm to move the bread with golden crust to the blackish-gray cast iron skillet.", + "Grab the rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Grab the rectangular bread loaf and drop it into the dark gray round cast iron pan.", + "Take the bread with golden crust and put it in the blackish-gray cast iron skillet", + "Use the right arm to grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it in the cooking skillet with grippy handle", + "Move the rectangular bread loaf to the cooking skillet with grippy handle using the right arm.", + "Pick up the bread with golden crust and drop it into the cooking skillet with grippy handle", + "Pick the rectangular bread loaf up and place it in the dark gray round cast iron pan", + "Use the right arm to move the bread loaf with soft surface to the cooking skillet with grippy handle.", + "Grab the bread loaf with soft surface and place it into the dark gray round cast iron pan.", + "Grab the bread loaf with soft surface and drop it into the cooking skillet with grippy handle.", + "Take the bread with golden crust and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Move the rectangular bread loaf to the dark gray round cast iron pan using the right arm.", + "Pick up the bread loaf with soft surface and drop it into the dark gray round cast iron pan", + "Pick the bread loaf with soft surface up and place it in the blackish-gray cast iron skillet", + "Use the right arm to move the bread with golden crust to the blackish-gray cast iron skillet.", + "Grab the rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Grab the rectangular bread loaf and drop it into the blackish-gray cast iron skillet.", + "Take the bread with golden crust and put it in the blackish-gray cast iron skillet", + "Use the right arm to grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and place it in the dark gray round cast iron pan", + "Move the bread with golden crust to the cooking skillet with grippy handle using the right arm.", + "Pick up the bread with golden crust and drop it into the dark gray round cast iron pan", + "Pick the bread loaf with soft surface up and place it in the blackish-gray cast iron skillet", + "Use the right arm to move the bread with golden crust to the dark gray round cast iron pan.", + "Grab the bread with golden crust and place it into the cooking skillet with grippy handle.", + "Grab the bread loaf with soft surface and drop it into the cooking skillet with grippy handle.", + "Take the bread with golden crust and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Move the rectangular bread loaf to the blackish-gray cast iron skillet using the right arm.", + "Pick up the rectangular bread loaf and drop it into the dark gray round cast iron pan", + "Pick the rectangular bread loaf up and place it in the cooking skillet with grippy handle", + "Use the right arm to move the bread with golden crust to the cooking skillet with grippy handle.", + "Grab the bread with golden crust and place it into the dark gray round cast iron pan.", + "Grab the bread with golden crust and drop it into the cooking skillet with grippy handle.", + "Take the bread with golden crust and put it in the blackish-gray cast iron skillet", + "Use the right arm to grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and place it in the dark gray round cast iron pan", + "Move the rectangular bread loaf to the dark gray round cast iron pan using the right arm.", + "Pick up the rectangular bread loaf and drop it into the blackish-gray cast iron skillet", + "Pick the bread loaf with soft surface up and place it in the dark gray round cast iron pan", + "Use the right arm to move the bread with golden crust to the cooking skillet with grippy handle.", + "Grab the rectangular bread loaf and place it into the blackish-gray cast iron skillet.", + "Grab the bread with golden crust and drop it into the blackish-gray cast iron skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode31.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..d3d1598051da67f945370439ab17d049141b7dba --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick the bread with split top and put it in the flat-bottom skillet", + "Take the light brown bread with ridges and set it into the gray skillet for stovetop cooking", + "Pick the hand-sized oval loaf off the table and place it in the gray skillet for stovetop cooking.", + "Move the small loaf with curved top into the round skillet with handle from the table", + "Take the hand-sized oval loaf and put it in the skillet with black cooking surface.", + "Take the light brown loaf with smooth sides and place it inside the smooth non-stick skillet", + "Use the right arm to grab the bread with split top and set it in the medium-sized frying skillet.", + "Take the small loaf with curved top with the right arm and drop into the black-surfaced skillet with gray sides", + "Place the light brown loaf with smooth sides into the skillet for frying food using the right arm", + "Put the bread with golden-brown crust into the metal skillet after grabbing it", + "Grab the smooth loaf with rounded edges and drop it into the metal skillet with comfortable grip", + "Grab the light brown loaf with smooth sides and place it inside the round skillet with handle.", + "Take the smooth loaf with rounded edges off the table into the metal skillet with comfortable grip", + "Lift the soft brown bread and drop it into the round skillet with handle", + "Use the right arm to move the bread with golden-brown crust and set it into the flat-bottom skillet.", + "Lift the light brown loaf with smooth sides and drop it into the metal skillet with comfortable grip.", + "Take the small loaf with curved top and place it inside the dark gray skillet", + "Use the right arm to set the golden bread loaf into the medium-sized frying skillet.", + "Grab the soft brown bread from the table and set it in the smooth non-stick skillet.", + "Pick up the light brown bread with ridges and place it in the round skillet with handle.", + "Use the right arm to pick the bread with split top and place it into the skillet for frying food.", + "Put the bread with golden-brown crust into the metal skillet.", + "Pick up the golden bread loaf and put it in the medium-sized frying skillet", + "Pick up the soft brown bread with the right arm and drop it in the skillet with black cooking surface", + "Transfer the light brown loaf with smooth sides into the medium-sized frying skillet from the table", + "Pick the small loaf with curved top and set it into the metal skillet with comfortable grip.", + "Use the right arm to grab the hand-sized oval loaf for the medium-sized frying skillet", + "Use the right arm to pick the small golden brown bread for the metal skillet", + "Use the right arm to grab the small loaf with curved top for the black-surfaced skillet with gray sides", + "Move the hand-sized oval loaf from table into the dark gray skillet", + "Use the right arm to pick the soft brown bread up for the gray skillet for stovetop cooking", + "Pick the brown loaf and transfer it to the skillet for frying food", + "Grab the small loaf with curved top using the right arm and place it in the smooth non-stick skillet", + "Use the right arm to take the soft brown bread and move it into the dark gray skillet.", + "Use the right arm to stick the small loaf with curved top into the round skillet with handle.", + "Lift the light brown bread with ridges using the right arm and move it to the skillet with black cooking surface", + "Use the right arm to move the smooth loaf with rounded edges into the skillet for frying food", + "Use the right arm to lift the smooth loaf with rounded edges and place it into the metal skillet with comfortable grip.", + "Pick the bread with golden-brown crust with the right arm and set it in the round skillet with open handle end", + "Set the brown loaf into the flat-bottom skillet after grabbing", + "Place the brown loaf from the table into the dark gray skillet", + "Take the light brown loaf with smooth sides and put it in the smooth non-stick skillet.", + "Grab the bread with warm golden color and place it inside the gray skillet for stovetop cooking", + "Take the hand-sized oval loaf and drop it into the dark gray skillet.", + "Move the bread with warm golden color to the skillet with black cooking surface using the right arm", + "Pick the smooth loaf with rounded edges up using the right arm and drop it in the black-surfaced skillet with gray sides.", + "Grab the small loaf with curved top and stick it in the black-surfaced skillet with gray sides.", + "Grab the light brown loaf with smooth sides with the right arm and place in the round skillet with open handle end", + "Use the right arm to place the bread with warm golden color into the skillet with black cooking surface", + "Place the bread with split top into the medium-sized frying skillet with the right arm.", + "Use the right arm to pick the light brown loaf with smooth sides and put it in the dark gray skillet", + "Take the light brown bread with ridges and set it into the flat-bottom skillet", + "Pick the golden bread loaf off the table and place it in the medium-sized frying skillet.", + "Move the brown loaf into the skillet for frying food from the table", + "Take the golden bread loaf and put it in the dark gray skillet.", + "Take the golden bread loaf and place it inside the black-surfaced skillet with gray sides", + "Use the right arm to grab the light brown loaf with smooth sides and set it in the metal skillet with comfortable grip.", + "Take the small loaf with curved top with the right arm and drop into the skillet for frying food", + "Place the golden bread loaf into the metal skillet with comfortable grip using the right arm", + "Put the bread with golden-brown crust into the round skillet with open handle end after grabbing it", + "Grab the light brown loaf with smooth sides and drop it into the gray skillet for stovetop cooking", + "Grab the hand-sized oval loaf and place it inside the gray skillet for stovetop cooking.", + "Take the bread with split top off the table into the skillet with black cooking surface", + "Lift the small golden brown bread and drop it into the metal skillet", + "Use the right arm to move the light brown bread with ridges and set it into the skillet for frying food.", + "Lift the small golden brown bread and drop it into the flat-bottom skillet.", + "Take the light brown bread with ridges and place it inside the round skillet with handle", + "Use the right arm to set the brown loaf into the metal skillet with comfortable grip.", + "Grab the small loaf with curved top from the table and set it in the medium-sized frying skillet.", + "Pick up the brown loaf and place it in the flat-bottom skillet.", + "Use the right arm to pick the small loaf with curved top and place it into the metal skillet.", + "Put the golden bread loaf into the black-surfaced skillet with gray sides.", + "Pick up the light brown bread with ridges and put it in the smooth non-stick skillet", + "Pick up the light brown loaf with smooth sides with the right arm and drop it in the skillet with black cooking surface", + "Transfer the brown loaf into the skillet with black cooking surface from the table", + "Pick the light brown bread with ridges and set it into the round skillet with open handle end.", + "Use the right arm to grab the golden bread loaf for the skillet with black cooking surface", + "Use the right arm to pick the bread with golden-brown crust for the smooth non-stick skillet", + "Use the right arm to grab the soft brown bread for the black-surfaced skillet with gray sides", + "Move the light brown bread with ridges from table into the round skillet with open handle end", + "Use the right arm to pick the hand-sized oval loaf up for the metal skillet", + "Pick the soft brown bread and transfer it to the black-surfaced skillet with gray sides", + "Grab the smooth loaf with rounded edges using the right arm and place it in the smooth non-stick skillet", + "Use the right arm to take the small golden brown bread and move it into the metal skillet with comfortable grip.", + "Use the right arm to stick the light brown bread with ridges into the round skillet with open handle end.", + "Lift the bread with golden-brown crust using the right arm and move it to the dark gray skillet", + "Use the right arm to move the bread with warm golden color into the skillet for frying food", + "Use the right arm to lift the smooth loaf with rounded edges and place it into the metal skillet.", + "Pick the smooth loaf with rounded edges with the right arm and set it in the smooth non-stick skillet", + "Set the bread with golden-brown crust into the skillet for frying food after grabbing", + "Place the light brown loaf with smooth sides from the table into the metal skillet with comfortable grip", + "Take the golden bread loaf and put it in the metal skillet.", + "Grab the light brown bread with ridges and place it inside the black-surfaced skillet with gray sides", + "Take the brown loaf and drop it into the gray skillet for stovetop cooking.", + "Move the small golden brown bread to the dark gray skillet using the right arm", + "Pick the hand-sized oval loaf up using the right arm and drop it in the black-surfaced skillet with gray sides.", + "Grab the small golden brown bread and stick it in the metal skillet.", + "Grab the bread with warm golden color with the right arm and place in the smooth non-stick skillet", + "Use the right arm to place the hand-sized oval loaf into the skillet for frying food", + "Place the soft brown bread into the round skillet with open handle end with the right arm." + ], + "unseen": [ + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Move the oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Move the oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Move the oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Pick up the rounded oval bread and drop it into the pan-shaped skillet with hole in handle", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Take the oval bread and put it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Move the oval bread to the dark skillet with shiny finish using the right arm.", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Use the right arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and set it in the dark skillet with shiny finish", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the dark skillet with shiny finish using the right arm.", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Move the oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the oval bread to the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Take the oval bread and put it in the dark skillet with shiny finish" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode32.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..15ceb15205c5c067b75c09e6dbb9936bd2f75877 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the small golden baked bread from the table into the black skillet with smooth base", + "Pick up the soft golden bread with the right arm and drop it in the round pan with hole in handle", + "Move the small golden baked bread into the heavy black cooking skillet from the table", + "Take the braided bread loaf with the right arm and drop into the versatile skillet for stovetop cooking", + "Pick the golden brown bread with braided design with the right arm and set it in the round pan with hole in handle", + "Use the right arm to move the smooth crusty small bread into the black skillet with smooth base", + "Use the right arm to grab the soft golden bread for the smooth round pan made of iron", + "Place the smooth crusty small bread into the solid dark-colored round pan with the right arm.", + "Grab the golden bread loaf with soft inside using the right arm and place it in the skillet with extended grip handle", + "Take the round bread with crusty texture and place it inside the heavy black cooking skillet", + "Grab the golden brown bread with the right arm and place in the solid dark-colored round pan", + "Grab the round bread with crusty texture and place it inside the smooth round pan made of iron.", + "Move the golden brown bread to the flat-bottomed skillet with long handle using the right arm", + "Set the round bread with crusty texture into the smooth round pan made of iron after grabbing", + "Take the golden brown bread off the table into the round cooking pan", + "Use the right arm to place the small bread into the flat-bottomed skillet with long handle", + "Put the soft golden bread into the solid dark-colored round pan after grabbing it", + "Use the right arm to take the golden brown bread with braided design and move it into the dark pan with sturdy grip.", + "Use the right arm to grab the golden brown bread and set it in the medium black pan with handle.", + "Place the golden brown bread into the skillet with extended grip handle using the right arm", + "Grab the golden brown bread and place it inside the smooth round pan made of iron", + "Pick the smooth crusty small bread and transfer it to the black skillet with smooth base", + "Use the right arm to move the soft doughy bread and set it into the medium black pan with handle.", + "Grab the soft golden bread and stick it in the flat-bottomed skillet with long handle.", + "Take the round bread with crusty texture and place it inside the skillet with extended grip handle", + "Use the right arm to pick the smooth crusty small bread and place it into the flat-bottomed skillet with long handle.", + "Put the golden bread loaf with soft inside into the versatile skillet for stovetop cooking.", + "Lift the golden brown bread with braided design and drop it into the dark pan with sturdy grip", + "Pick the round bread with crusty texture and set it into the round cooking pan.", + "Grab the golden brown bread with braided design and drop it into the versatile skillet for stovetop cooking", + "Take the smooth crusty small bread and put it in the heavy black cooking skillet.", + "Transfer the bread with golden crust into the skillet with extended grip handle from the table", + "Grab the round bread with braided top from the table and set it in the skillet with extended grip handle.", + "Lift the golden bread loaf with soft inside and drop it into the flat-bottomed skillet with long handle.", + "Pick the soft doughy bread off the table and place it in the flat-bottomed skillet with long handle.", + "Take the golden brown bread and drop it into the dark pan with sturdy grip.", + "Pick up the golden bread loaf with soft inside and place it in the dark pan with sturdy grip.", + "Use the right arm to grab the small bread for the flat-bottomed skillet with long handle", + "Take the smooth crusty small bread and put it in the medium black pan with handle.", + "Use the right arm to stick the braided bread loaf into the round pan with hole in handle.", + "Pick up the smooth crusty small bread and put it in the heavy black cooking skillet", + "Use the right arm to lift the bread with golden crust and place it into the smooth round pan made of iron.", + "Move the round bread with braided top from table into the heavy black cooking skillet", + "Use the right arm to pick the golden brown bread with braided design up for the round cooking pan", + "Use the right arm to set the soft golden bread into the skillet with extended grip handle.", + "Pick the round bread with crusty texture up using the right arm and drop it in the heavy black cooking skillet.", + "Use the right arm to pick the round bread with braided top and put it in the solid dark-colored round pan", + "Use the right arm to pick the round bread with braided top for the flat-bottomed skillet with long handle", + "Lift the round bread with crusty texture using the right arm and move it to the skillet with extended grip handle", + "Take the small golden baked bread and set it into the smooth round pan made of iron", + "Place the golden brown bread from the table into the medium black pan with handle", + "Pick up the small golden baked bread with the right arm and drop it in the versatile skillet for stovetop cooking", + "Move the soft doughy bread into the smooth round pan made of iron from the table", + "Take the round bread with crusty texture with the right arm and drop into the solid dark-colored round pan", + "Pick the soft doughy bread with the right arm and set it in the round cooking pan", + "Use the right arm to move the braided bread loaf into the round cooking pan", + "Use the right arm to grab the golden bread loaf with soft inside for the flat-bottomed skillet with long handle", + "Place the soft doughy bread into the dark pan with sturdy grip with the right arm.", + "Grab the braided bread loaf using the right arm and place it in the black pan with curved edges", + "Take the bread with golden crust and place it inside the flat-bottomed skillet with long handle", + "Grab the golden brown bread with braided design with the right arm and place in the smooth round pan made of iron", + "Grab the small bread and place it inside the skillet with extended grip handle.", + "Move the soft golden bread to the versatile skillet for stovetop cooking using the right arm", + "Set the golden brown bread into the round pan with hole in handle after grabbing", + "Take the golden brown bread with braided design off the table into the versatile skillet for stovetop cooking", + "Use the right arm to place the soft golden bread into the black pan with curved edges", + "Put the round bread with braided top into the dark pan with sturdy grip after grabbing it", + "Use the right arm to take the round bread with braided top and move it into the versatile skillet for stovetop cooking.", + "Use the right arm to grab the soft doughy bread and set it in the black skillet with smooth base.", + "Place the small bread into the solid dark-colored round pan using the right arm", + "Grab the golden brown bread with braided design and place it inside the smooth round pan made of iron", + "Pick the golden bread loaf with soft inside and transfer it to the heavy black cooking skillet", + "Use the right arm to move the round bread with braided top and set it into the black skillet with smooth base.", + "Grab the braided bread loaf and stick it in the flat-bottomed skillet with long handle.", + "Take the bread with golden crust and place it inside the black skillet with smooth base", + "Use the right arm to pick the round bread with braided top and place it into the heavy black cooking skillet.", + "Put the braided bread loaf into the dark pan with sturdy grip.", + "Lift the golden brown bread and drop it into the skillet with extended grip handle", + "Pick the round bread with crusty texture and set it into the black pan with curved edges.", + "Grab the golden brown bread with braided design and drop it into the round pan with hole in handle", + "Take the round bread with crusty texture and put it in the black skillet with smooth base.", + "Transfer the small golden baked bread into the dark pan with sturdy grip from the table", + "Grab the smooth crusty small bread from the table and set it in the skillet with extended grip handle.", + "Lift the braided bread loaf and drop it into the smooth round pan made of iron.", + "Pick the soft doughy bread off the table and place it in the black pan with curved edges.", + "Take the round bread with braided top and drop it into the black skillet with smooth base.", + "Pick up the round bread with braided top and place it in the skillet with extended grip handle.", + "Use the right arm to grab the soft doughy bread for the solid dark-colored round pan", + "Take the golden brown bread and put it in the black pan with curved edges.", + "Use the right arm to stick the smooth crusty small bread into the versatile skillet for stovetop cooking.", + "Pick up the bread with golden crust and put it in the solid dark-colored round pan", + "Use the right arm to lift the soft golden bread and place it into the round pan with hole in handle.", + "Move the golden brown bread with braided design from table into the round cooking pan", + "Use the right arm to pick the golden brown bread with braided design up for the heavy black cooking skillet", + "Use the right arm to set the bread with golden crust into the black skillet with smooth base.", + "Pick the golden bread loaf with soft inside up using the right arm and drop it in the skillet with extended grip handle.", + "Use the right arm to pick the round bread with crusty texture and put it in the round cooking pan", + "Use the right arm to pick the smooth crusty small bread for the dark pan with sturdy grip", + "Lift the soft doughy bread using the right arm and move it to the round pan with hole in handle", + "Take the round bread with crusty texture and set it into the black pan with curved edges" + ], + "unseen": [ + "Take the round braided loaf and put it in the black skillet", + "Grab the round braided loaf and place it into the round cast-iron skillet.", + "Use the right arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Use the right arm to move the braided top round bread to the iron skillet for frying foods.", + "Move the palm-sized braided golden bread to the iron skillet for frying foods using the right arm.", + "Pick the braided top round bread up and place it in the round cast-iron skillet", + "Pick up the braided top round bread and drop it into the round cast-iron skillet", + "Grab the palm-sized braided golden bread and place it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and drop it into the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Take the braided top round bread and put it in the round cast-iron skillet", + "Grab the round braided loaf and place it into the round cast-iron skillet.", + "Use the right arm to grab the braided top round bread and set it in the round cast-iron skillet", + "Use the right arm to move the palm-sized braided golden bread to the black skillet.", + "Move the round braided loaf to the round cast-iron skillet using the right arm.", + "Pick the braided top round bread up and place it in the iron skillet for frying foods", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Grab the round braided loaf and drop it into the round cast-iron skillet.", + "Grab the palm-sized braided golden bread and set it in the black skillet", + "Take the palm-sized braided golden bread and put it in the black skillet", + "Grab the braided top round bread and place it into the iron skillet for frying foods.", + "Use the right arm to grab the round braided loaf and set it in the round cast-iron skillet", + "Use the right arm to move the braided top round bread to the round cast-iron skillet.", + "Move the round braided loaf to the iron skillet for frying foods using the right arm.", + "Pick the braided top round bread up and place it in the round cast-iron skillet", + "Pick up the round braided loaf and drop it into the round cast-iron skillet", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Grab the round braided loaf and drop it into the black skillet.", + "Grab the round braided loaf and set it in the round cast-iron skillet", + "Take the palm-sized braided golden bread and put it in the black skillet", + "Grab the round braided loaf and place it into the iron skillet for frying foods.", + "Use the right arm to grab the braided top round bread and set it in the round cast-iron skillet", + "Use the right arm to move the round braided loaf to the iron skillet for frying foods.", + "Move the round braided loaf to the round cast-iron skillet using the right arm.", + "Pick the round braided loaf up and place it in the black skillet", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Grab the palm-sized braided golden bread and place it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and drop it into the iron skillet for frying foods.", + "Grab the round braided loaf and set it in the iron skillet for frying foods", + "Take the palm-sized braided golden bread and put it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and place it into the iron skillet for frying foods.", + "Use the right arm to grab the round braided loaf and set it in the round cast-iron skillet", + "Use the right arm to move the round braided loaf to the black skillet.", + "Move the palm-sized braided golden bread to the black skillet using the right arm.", + "Pick the round braided loaf up and place it in the black skillet", + "Pick up the braided top round bread and drop it into the black skillet", + "Grab the palm-sized braided golden bread and place it in the black skillet", + "Grab the braided top round bread and drop it into the round cast-iron skillet.", + "Grab the braided top round bread and set it in the iron skillet for frying foods", + "Take the palm-sized braided golden bread and put it in the black skillet", + "Grab the braided top round bread and place it into the iron skillet for frying foods.", + "Use the right arm to grab the braided top round bread and set it in the black skillet", + "Use the right arm to move the palm-sized braided golden bread to the iron skillet for frying foods.", + "Move the braided top round bread to the iron skillet for frying foods using the right arm.", + "Pick the round braided loaf up and place it in the black skillet", + "Pick up the braided top round bread and drop it into the iron skillet for frying foods", + "Grab the round braided loaf and place it in the black skillet", + "Grab the braided top round bread and drop it into the round cast-iron skillet.", + "Grab the round braided loaf and set it in the iron skillet for frying foods", + "Take the round braided loaf and put it in the round cast-iron skillet", + "Grab the round braided loaf and place it into the round cast-iron skillet.", + "Use the right arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Use the right arm to move the round braided loaf to the iron skillet for frying foods.", + "Move the round braided loaf to the round cast-iron skillet using the right arm.", + "Pick the braided top round bread up and place it in the iron skillet for frying foods", + "Pick up the palm-sized braided golden bread and drop it into the iron skillet for frying foods", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Grab the round braided loaf and drop it into the black skillet.", + "Grab the round braided loaf and set it in the black skillet", + "Take the palm-sized braided golden bread and put it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and place it into the iron skillet for frying foods.", + "Use the right arm to grab the round braided loaf and set it in the black skillet", + "Use the right arm to move the palm-sized braided golden bread to the iron skillet for frying foods.", + "Move the braided top round bread to the iron skillet for frying foods using the right arm.", + "Pick the palm-sized braided golden bread up and place it in the round cast-iron skillet", + "Pick up the braided top round bread and drop it into the iron skillet for frying foods", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Grab the round braided loaf and drop it into the black skillet.", + "Grab the braided top round bread and set it in the iron skillet for frying foods", + "Take the round braided loaf and put it in the iron skillet for frying foods", + "Grab the round braided loaf and place it into the round cast-iron skillet.", + "Use the right arm to grab the braided top round bread and set it in the iron skillet for frying foods", + "Use the right arm to move the braided top round bread to the black skillet.", + "Move the palm-sized braided golden bread to the round cast-iron skillet using the right arm.", + "Pick the palm-sized braided golden bread up and place it in the round cast-iron skillet", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Grab the palm-sized braided golden bread and place it in the black skillet", + "Grab the braided top round bread and drop it into the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Take the braided top round bread and put it in the iron skillet for frying foods", + "Grab the round braided loaf and place it into the iron skillet for frying foods.", + "Use the right arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Use the right arm to move the palm-sized braided golden bread to the iron skillet for frying foods.", + "Move the round braided loaf to the iron skillet for frying foods using the right arm.", + "Pick the braided top round bread up and place it in the iron skillet for frying foods", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Grab the braided top round bread and drop it into the round cast-iron skillet.", + "Grab the palm-sized braided golden bread and set it in the round cast-iron skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode33.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..7c196e185acc3bf03ff05366045d9f0a8590d2bd --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the round bread with braided top using the left arm and place it in the round pan with hole in handle", + "Use the left arm to pick the soft golden bread for the smooth round pan made of iron", + "Use the left arm to grab the golden bread loaf with soft inside and set it in the black skillet with smooth base.", + "Set the golden brown bread into the medium black pan with handle after grabbing", + "Use the left arm to move the soft golden bread and set it into the round pan with hole in handle.", + "Use the left arm to move the small bread into the solid dark-colored round pan", + "Use the left arm to place the bread with golden crust into the round pan with hole in handle", + "Use the left arm to grab the round bread with braided top for the round cooking pan", + "Take the soft golden bread and put it in the round cooking pan.", + "Take the soft golden bread and place it inside the smooth round pan made of iron", + "Pick the bread with golden crust and transfer it to the black skillet with smooth base", + "Use the left arm to set the golden brown bread with braided design into the versatile skillet for stovetop cooking.", + "Grab the small bread and stick it in the solid dark-colored round pan.", + "Place the small bread into the black pan with curved edges using the left arm", + "Pick the round bread with braided top off the table and place it in the heavy black cooking skillet.", + "Pick up the golden bread loaf with soft inside with the left arm and drop it in the black pan with curved edges", + "Grab the braided bread loaf and place it inside the versatile skillet for stovetop cooking.", + "Place the braided bread loaf into the solid dark-colored round pan with the left arm.", + "Lift the round bread with crusty texture and drop it into the solid dark-colored round pan", + "Put the bread with golden crust into the black skillet with smooth base.", + "Move the braided bread loaf into the versatile skillet for stovetop cooking from the table", + "Pick the small golden baked bread up using the left arm and drop it in the round cooking pan.", + "Take the golden brown bread and drop it into the versatile skillet for stovetop cooking.", + "Place the small bread from the table into the round pan with hole in handle", + "Take the golden bread loaf with soft inside and put it in the dark pan with sturdy grip.", + "Grab the soft doughy bread from the table and set it in the dark pan with sturdy grip.", + "Take the soft golden bread off the table into the solid dark-colored round pan", + "Pick the soft doughy bread with the left arm and set it in the skillet with extended grip handle", + "Lift the braided bread loaf and drop it into the round pan with hole in handle.", + "Grab the small bread and drop it into the flat-bottomed skillet with long handle", + "Use the left arm to lift the soft doughy bread and place it into the versatile skillet for stovetop cooking.", + "Move the smooth crusty small bread from table into the solid dark-colored round pan", + "Use the left arm to grab the soft golden bread for the solid dark-colored round pan", + "Use the left arm to pick the braided bread loaf and place it into the smooth round pan made of iron.", + "Take the golden brown bread with the left arm and drop into the dark pan with sturdy grip", + "Put the braided bread loaf into the versatile skillet for stovetop cooking after grabbing it", + "Move the small golden baked bread to the solid dark-colored round pan using the left arm", + "Use the left arm to stick the round bread with crusty texture into the black skillet with smooth base.", + "Lift the round bread with crusty texture using the left arm and move it to the dark pan with sturdy grip", + "Grab the soft doughy bread and place it inside the black pan with curved edges", + "Pick the soft golden bread and set it into the skillet with extended grip handle.", + "Transfer the smooth crusty small bread into the round cooking pan from the table", + "Use the left arm to pick the bread with golden crust and put it in the round cooking pan", + "Take the soft golden bread and place it inside the black skillet with smooth base", + "Use the left arm to pick the round bread with crusty texture up for the solid dark-colored round pan", + "Use the left arm to take the bread with golden crust and move it into the black skillet with smooth base.", + "Pick up the bread with golden crust and put it in the black skillet with smooth base", + "Pick up the small bread and place it in the round cooking pan.", + "Take the smooth crusty small bread and set it into the round pan with hole in handle", + "Grab the small golden baked bread with the left arm and place in the medium black pan with handle", + "Grab the round bread with crusty texture using the left arm and place it in the round pan with hole in handle", + "Use the left arm to pick the round bread with braided top for the round pan with hole in handle", + "Use the left arm to grab the small bread and set it in the flat-bottomed skillet with long handle.", + "Set the round bread with braided top into the versatile skillet for stovetop cooking after grabbing", + "Use the left arm to move the round bread with braided top and set it into the round pan with hole in handle.", + "Use the left arm to move the golden bread loaf with soft inside into the round cooking pan", + "Use the left arm to place the golden brown bread with braided design into the smooth round pan made of iron", + "Use the left arm to grab the small bread for the dark pan with sturdy grip", + "Take the golden brown bread with braided design and put it in the round pan with hole in handle.", + "Take the soft doughy bread and place it inside the black skillet with smooth base", + "Pick the round bread with crusty texture and transfer it to the solid dark-colored round pan", + "Use the left arm to set the golden brown bread into the smooth round pan made of iron.", + "Grab the golden brown bread and stick it in the smooth round pan made of iron.", + "Place the small bread into the skillet with extended grip handle using the left arm", + "Pick the braided bread loaf off the table and place it in the solid dark-colored round pan.", + "Pick up the small golden baked bread with the left arm and drop it in the versatile skillet for stovetop cooking", + "Grab the small golden baked bread and place it inside the versatile skillet for stovetop cooking.", + "Place the braided bread loaf into the black skillet with smooth base with the left arm.", + "Lift the golden bread loaf with soft inside and drop it into the black pan with curved edges", + "Put the soft doughy bread into the round pan with hole in handle.", + "Move the smooth crusty small bread into the skillet with extended grip handle from the table", + "Pick the smooth crusty small bread up using the left arm and drop it in the heavy black cooking skillet.", + "Take the round bread with braided top and drop it into the solid dark-colored round pan.", + "Place the round bread with crusty texture from the table into the versatile skillet for stovetop cooking", + "Take the golden brown bread with braided design and put it in the black skillet with smooth base.", + "Grab the golden brown bread with braided design from the table and set it in the heavy black cooking skillet.", + "Take the small bread off the table into the solid dark-colored round pan", + "Pick the small bread with the left arm and set it in the black skillet with smooth base", + "Lift the bread with golden crust and drop it into the versatile skillet for stovetop cooking.", + "Grab the round bread with braided top and drop it into the black pan with curved edges", + "Use the left arm to lift the round bread with braided top and place it into the flat-bottomed skillet with long handle.", + "Move the small bread from table into the medium black pan with handle", + "Use the left arm to grab the smooth crusty small bread for the flat-bottomed skillet with long handle", + "Use the left arm to pick the golden brown bread with braided design and place it into the dark pan with sturdy grip.", + "Take the soft golden bread with the left arm and drop into the round pan with hole in handle", + "Put the round bread with crusty texture into the flat-bottomed skillet with long handle after grabbing it", + "Move the round bread with braided top to the versatile skillet for stovetop cooking using the left arm", + "Use the left arm to stick the smooth crusty small bread into the black pan with curved edges.", + "Lift the soft doughy bread using the left arm and move it to the medium black pan with handle", + "Grab the round bread with braided top and place it inside the round pan with hole in handle", + "Pick the golden brown bread with braided design and set it into the round cooking pan.", + "Transfer the smooth crusty small bread into the skillet with extended grip handle from the table", + "Use the left arm to pick the small golden baked bread and put it in the heavy black cooking skillet", + "Take the golden brown bread and place it inside the flat-bottomed skillet with long handle", + "Use the left arm to pick the round bread with crusty texture up for the black skillet with smooth base", + "Use the left arm to take the golden bread loaf with soft inside and move it into the flat-bottomed skillet with long handle.", + "Pick up the braided bread loaf and put it in the black pan with curved edges", + "Pick up the soft doughy bread and place it in the heavy black cooking skillet.", + "Take the small golden baked bread and set it into the black pan with curved edges", + "Grab the golden brown bread with braided design with the left arm and place in the smooth round pan made of iron" + ], + "unseen": [ + "Grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Use the left arm to grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Pick up the braided top round bread and drop it into the round cast-iron skillet", + "Grab the braided top round bread and place it in the black skillet", + "Grab the palm-sized braided golden bread and place it into the black skillet.", + "Take the braided top round bread and put it in the black skillet", + "Pick the round braided loaf up and place it in the iron skillet for frying foods", + "Move the round braided loaf to the round cast-iron skillet using the left arm.", + "Use the left arm to move the palm-sized braided golden bread to the iron skillet for frying foods.", + "Grab the braided top round bread and set it in the round cast-iron skillet", + "Grab the braided top round bread and drop it into the iron skillet for frying foods.", + "Use the left arm to grab the braided top round bread and set it in the iron skillet for frying foods", + "Pick up the palm-sized braided golden bread and drop it into the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and place it in the black skillet", + "Grab the round braided loaf and place it into the black skillet.", + "Take the round braided loaf and put it in the iron skillet for frying foods", + "Pick the braided top round bread up and place it in the round cast-iron skillet", + "Move the braided top round bread to the iron skillet for frying foods using the left arm.", + "Use the left arm to move the round braided loaf to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and set it in the black skillet", + "Grab the round braided loaf and drop it into the round cast-iron skillet.", + "Use the left arm to grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Pick up the round braided loaf and drop it into the iron skillet for frying foods", + "Grab the braided top round bread and place it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and place it into the round cast-iron skillet.", + "Take the palm-sized braided golden bread and put it in the black skillet", + "Pick the braided top round bread up and place it in the round cast-iron skillet", + "Move the round braided loaf to the round cast-iron skillet using the left arm.", + "Use the left arm to move the round braided loaf to the black skillet.", + "Grab the palm-sized braided golden bread and set it in the black skillet", + "Grab the palm-sized braided golden bread and drop it into the iron skillet for frying foods.", + "Use the left arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Pick up the round braided loaf and drop it into the iron skillet for frying foods", + "Grab the braided top round bread and place it in the round cast-iron skillet", + "Grab the braided top round bread and place it into the round cast-iron skillet.", + "Take the braided top round bread and put it in the round cast-iron skillet", + "Pick the round braided loaf up and place it in the iron skillet for frying foods", + "Move the palm-sized braided golden bread to the iron skillet for frying foods using the left arm.", + "Use the left arm to move the round braided loaf to the iron skillet for frying foods.", + "Grab the round braided loaf and set it in the iron skillet for frying foods", + "Grab the braided top round bread and drop it into the round cast-iron skillet.", + "Use the left arm to grab the braided top round bread and set it in the iron skillet for frying foods", + "Pick up the braided top round bread and drop it into the round cast-iron skillet", + "Grab the round braided loaf and place it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and place it into the iron skillet for frying foods.", + "Take the palm-sized braided golden bread and put it in the round cast-iron skillet", + "Pick the braided top round bread up and place it in the iron skillet for frying foods", + "Move the round braided loaf to the round cast-iron skillet using the left arm.", + "Use the left arm to move the palm-sized braided golden bread to the round cast-iron skillet.", + "Grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Grab the round braided loaf and drop it into the round cast-iron skillet.", + "Use the left arm to grab the round braided loaf and set it in the black skillet", + "Pick up the round braided loaf and drop it into the round cast-iron skillet", + "Grab the braided top round bread and place it in the black skillet", + "Grab the braided top round bread and place it into the round cast-iron skillet.", + "Take the round braided loaf and put it in the iron skillet for frying foods", + "Pick the palm-sized braided golden bread up and place it in the black skillet", + "Move the braided top round bread to the black skillet using the left arm.", + "Use the left arm to move the palm-sized braided golden bread to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and set it in the black skillet", + "Grab the palm-sized braided golden bread and drop it into the black skillet.", + "Use the left arm to grab the palm-sized braided golden bread and set it in the black skillet", + "Pick up the round braided loaf and drop it into the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and place it in the iron skillet for frying foods", + "Grab the braided top round bread and place it into the round cast-iron skillet.", + "Take the braided top round bread and put it in the iron skillet for frying foods", + "Pick the round braided loaf up and place it in the round cast-iron skillet", + "Move the braided top round bread to the round cast-iron skillet using the left arm.", + "Use the left arm to move the braided top round bread to the black skillet.", + "Grab the palm-sized braided golden bread and set it in the black skillet", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Use the left arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Pick up the palm-sized braided golden bread and drop it into the black skillet", + "Grab the braided top round bread and place it in the iron skillet for frying foods", + "Grab the braided top round bread and place it into the iron skillet for frying foods.", + "Take the braided top round bread and put it in the black skillet", + "Pick the round braided loaf up and place it in the round cast-iron skillet", + "Move the braided top round bread to the black skillet using the left arm.", + "Use the left arm to move the palm-sized braided golden bread to the iron skillet for frying foods.", + "Grab the braided top round bread and set it in the black skillet", + "Grab the palm-sized braided golden bread and drop it into the black skillet.", + "Use the left arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Pick up the round braided loaf and drop it into the iron skillet for frying foods", + "Grab the round braided loaf and place it in the black skillet", + "Grab the palm-sized braided golden bread and place it into the round cast-iron skillet.", + "Take the braided top round bread and put it in the black skillet", + "Pick the braided top round bread up and place it in the round cast-iron skillet", + "Move the braided top round bread to the round cast-iron skillet using the left arm.", + "Use the left arm to move the palm-sized braided golden bread to the iron skillet for frying foods.", + "Grab the round braided loaf and set it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and drop it into the round cast-iron skillet.", + "Use the left arm to grab the round braided loaf and set it in the black skillet", + "Pick up the braided top round bread and drop it into the round cast-iron skillet", + "Grab the palm-sized braided golden bread and place it in the black skillet", + "Grab the braided top round bread and place it into the black skillet.", + "Take the palm-sized braided golden bread and put it in the black skillet", + "Pick the braided top round bread up and place it in the black skillet", + "Move the braided top round bread to the round cast-iron skillet using the left arm.", + "Use the left arm to move the palm-sized braided golden bread to the iron skillet for frying foods." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode34.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..f3ed589597bf46764e727da8145a7a1ce4233e19 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to move the cuboid bread and set it into the hefty black skillet.", + "Use the right arm to pick the soft bread for the medium round cast iron skillet", + "Transfer the light golden brown bread into the medium round cast iron skillet from the table", + "Use the right arm to lift the golden bread and place it into the medium round cast iron skillet.", + "Pick the golden bread and set it into the medium skillet.", + "Grab the soft bread and place it inside the medium round cast iron skillet.", + "Use the right arm to pick the light golden brown bread and place it into the medium skillet.", + "Pick the bread with rough texture up using the right arm and drop it in the pan with dark finish.", + "Grab the bread loaf with bumpy surface and place it inside the round skillet with handle", + "Take the square-shaped bread and drop it into the skillet for cooking.", + "Place the bread with rough texture from the table into the gray cooking pan with handle", + "Use the right arm to set the doughy and soft bread into the pan with dark finish.", + "Take the cuboid bread off the table into the medium skillet", + "Pick the doughy and soft bread and transfer it to the hefty black skillet", + "Take the light golden brown bread and put it in the rounded skillet with a holey handle.", + "Pick up the bread block with light patches and place it in the smooth cast iron skillet.", + "Move the golden bread loaf into the skillet for cooking from the table", + "Use the right arm to move the bread loaf with uneven edges into the medium round cast iron skillet", + "Use the right arm to pick the bread loaf with uneven edges up for the gray pan", + "Use the right arm to place the bread loaf with uneven edges into the smooth round cooking skillet", + "Pick up the cuboid bread with the right arm and drop it in the hefty black skillet", + "Lift the doughy and soft bread using the right arm and move it to the gray cooking pan with handle", + "Move the bread loaf with uneven edges from table into the round skillet with handle", + "Pick up the soft bread and put it in the rounded skillet with a holey handle", + "Place the hand-sized bread block into the skillet for cooking with the right arm.", + "Use the right arm to pick the light golden brown bread and put it in the gray pan", + "Take the golden bread and put it in the smooth round cooking skillet.", + "Move the bread block with light patches to the pan with dark finish using the right arm", + "Grab the golden bread loaf from the table and set it in the hefty black skillet.", + "Use the right arm to grab the cuboid bread for the medium skillet", + "Put the bread block with light patches into the gray pan.", + "Pick the doughy and soft bread off the table and place it in the skillet for cooking.", + "Lift the bread loaf with bumpy surface and drop it into the rounded skillet with a holey handle.", + "Take the bread block with light patches and set it into the gray pan", + "Set the doughy and soft bread into the medium round cast iron skillet after grabbing", + "Grab the bread block with light patches using the right arm and place it in the pan with dark finish", + "Use the right arm to take the hand-sized bread block and move it into the gray cooking pan with handle.", + "Use the right arm to grab the golden bread for the rounded skillet with a holey handle", + "Use the right arm to stick the light golden brown bread into the rounded skillet with a holey handle.", + "Use the right arm to grab the golden bread loaf and set it in the hefty black skillet.", + "Grab the bread loaf with uneven edges and stick it in the pan with dark finish.", + "Take the light golden brown bread and place it inside the dark gray skillet", + "Grab the bread block with light patches with the right arm and place in the rounded skillet with a holey handle", + "Lift the bread block with light patches and drop it into the medium skillet", + "Place the golden bread into the gray pan using the right arm", + "Put the bread loaf with bumpy surface into the gray pan after grabbing it", + "Grab the bread loaf with bumpy surface and drop it into the rounded skillet with a holey handle", + "Take the soft bread and place it inside the skillet for cooking", + "Pick the bread loaf with bumpy surface with the right arm and set it in the medium skillet", + "Take the bread loaf with bumpy surface with the right arm and drop into the medium round cast iron skillet", + "Use the right arm to move the soft bread and set it into the gray pan.", + "Use the right arm to pick the doughy and soft bread for the gray pan", + "Transfer the bread block with light patches into the smooth round cooking skillet from the table", + "Use the right arm to lift the light golden brown bread and place it into the medium skillet.", + "Pick the bread with rough texture and set it into the pan with dark finish.", + "Grab the bread loaf with uneven edges and place it inside the hefty black skillet.", + "Use the right arm to pick the bread with rough texture and place it into the gray cooking pan with handle.", + "Pick the square-shaped bread up using the right arm and drop it in the medium round cast iron skillet.", + "Grab the bread block with light patches and place it inside the pan with dark finish", + "Take the light golden brown bread and drop it into the hefty black skillet.", + "Place the golden bread loaf from the table into the smooth cast iron skillet", + "Use the right arm to set the bread block with light patches into the dark gray skillet.", + "Take the hand-sized bread block off the table into the round skillet with handle", + "Pick the hand-sized bread block and transfer it to the gray pan", + "Take the soft bread and put it in the pan with dark finish.", + "Pick up the light golden brown bread and place it in the medium skillet.", + "Move the hand-sized bread block into the pan with dark finish from the table", + "Use the right arm to move the bread block with light patches into the dark gray skillet", + "Use the right arm to pick the square-shaped bread up for the pan with dark finish", + "Use the right arm to place the bread block with light patches into the medium skillet", + "Pick up the bread block with light patches with the right arm and drop it in the dark gray skillet", + "Lift the doughy and soft bread using the right arm and move it to the dark gray skillet", + "Move the bread loaf with uneven edges from table into the pan with dark finish", + "Pick up the golden bread loaf and put it in the hefty black skillet", + "Place the light golden brown bread into the rounded skillet with a holey handle with the right arm.", + "Use the right arm to pick the light golden brown bread and put it in the smooth cast iron skillet", + "Take the bread block with light patches and put it in the rounded skillet with a holey handle.", + "Move the cuboid bread to the skillet for cooking using the right arm", + "Grab the hand-sized bread block from the table and set it in the smooth round cooking skillet.", + "Use the right arm to grab the bread loaf with uneven edges for the skillet for cooking", + "Put the hand-sized bread block into the medium round cast iron skillet.", + "Pick the square-shaped bread off the table and place it in the medium round cast iron skillet.", + "Lift the bread loaf with bumpy surface and drop it into the rounded skillet with a holey handle.", + "Take the soft bread and set it into the hefty black skillet", + "Set the light golden brown bread into the hefty black skillet after grabbing", + "Grab the bread loaf with uneven edges using the right arm and place it in the gray pan", + "Use the right arm to take the light golden brown bread and move it into the gray cooking pan with handle.", + "Use the right arm to grab the cuboid bread for the pan with dark finish", + "Use the right arm to stick the bread loaf with uneven edges into the pan with dark finish.", + "Use the right arm to grab the golden bread and set it in the gray cooking pan with handle.", + "Grab the light golden brown bread and stick it in the gray pan.", + "Take the golden bread and place it inside the smooth round cooking skillet", + "Grab the square-shaped bread with the right arm and place in the skillet for cooking", + "Lift the light golden brown bread and drop it into the round skillet with handle", + "Place the square-shaped bread into the medium round cast iron skillet using the right arm", + "Put the golden bread into the skillet for cooking after grabbing it", + "Grab the soft bread and drop it into the dark gray skillet", + "Take the golden bread and place it inside the medium skillet", + "Pick the square-shaped bread with the right arm and set it in the gray cooking pan with handle", + "Take the cuboid bread with the right arm and drop into the skillet for cooking" + ], + "unseen": [ + "Grab the rectangular bread loaf and place it into the blackish-gray cast iron skillet.", + "Move the bread with golden crust to the dark gray round cast iron pan using the right arm.", + "Use the right arm to move the bread with golden crust to the cooking skillet with grippy handle.", + "Take the bread with golden crust and put it in the blackish-gray cast iron skillet", + "Pick the bread loaf with soft surface up and place it in the cooking skillet with grippy handle", + "Pick up the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and place it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Use the right arm to grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and drop it into the dark gray round cast iron pan.", + "Grab the bread loaf with soft surface and place it into the blackish-gray cast iron skillet.", + "Move the bread loaf with soft surface to the cooking skillet with grippy handle using the right arm.", + "Use the right arm to move the bread with golden crust to the cooking skillet with grippy handle.", + "Take the bread loaf with soft surface and put it in the blackish-gray cast iron skillet", + "Pick the rectangular bread loaf up and place it in the cooking skillet with grippy handle", + "Pick up the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and place it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Use the right arm to grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and drop it into the cooking skillet with grippy handle.", + "Grab the bread loaf with soft surface and place it into the blackish-gray cast iron skillet.", + "Move the bread with golden crust to the dark gray round cast iron pan using the right arm.", + "Use the right arm to move the bread with golden crust to the cooking skillet with grippy handle.", + "Take the rectangular bread loaf and put it in the blackish-gray cast iron skillet", + "Pick the rectangular bread loaf up and place it in the cooking skillet with grippy handle", + "Pick up the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Use the right arm to grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Grab the bread with golden crust and drop it into the dark gray round cast iron pan.", + "Grab the bread loaf with soft surface and place it into the cooking skillet with grippy handle.", + "Move the bread loaf with soft surface to the blackish-gray cast iron skillet using the right arm.", + "Use the right arm to move the bread with golden crust to the cooking skillet with grippy handle.", + "Take the rectangular bread loaf and put it in the dark gray round cast iron pan", + "Pick the rectangular bread loaf up and place it in the cooking skillet with grippy handle", + "Pick up the bread with golden crust and drop it into the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and set it in the dark gray round cast iron pan", + "Use the right arm to grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Grab the bread with golden crust and drop it into the dark gray round cast iron pan.", + "Grab the bread loaf with soft surface and place it into the blackish-gray cast iron skillet.", + "Move the bread loaf with soft surface to the cooking skillet with grippy handle using the right arm.", + "Use the right arm to move the bread with golden crust to the blackish-gray cast iron skillet.", + "Take the bread loaf with soft surface and put it in the blackish-gray cast iron skillet", + "Pick the bread with golden crust up and place it in the dark gray round cast iron pan", + "Pick up the bread with golden crust and drop it into the dark gray round cast iron pan", + "Grab the rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Use the right arm to grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and drop it into the dark gray round cast iron pan.", + "Grab the bread loaf with soft surface and place it into the cooking skillet with grippy handle.", + "Move the bread with golden crust to the dark gray round cast iron pan using the right arm.", + "Use the right arm to move the bread loaf with soft surface to the cooking skillet with grippy handle.", + "Take the rectangular bread loaf and put it in the dark gray round cast iron pan", + "Pick the bread with golden crust up and place it in the blackish-gray cast iron skillet", + "Pick up the bread with golden crust and drop it into the dark gray round cast iron pan", + "Grab the rectangular bread loaf and place it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Use the right arm to grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and drop it into the dark gray round cast iron pan.", + "Grab the bread with golden crust and place it into the blackish-gray cast iron skillet.", + "Move the bread with golden crust to the dark gray round cast iron pan using the right arm.", + "Use the right arm to move the bread with golden crust to the blackish-gray cast iron skillet.", + "Take the bread loaf with soft surface and put it in the dark gray round cast iron pan", + "Pick the bread with golden crust up and place it in the cooking skillet with grippy handle", + "Pick up the bread loaf with soft surface and drop it into the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and place it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Use the right arm to grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and drop it into the dark gray round cast iron pan.", + "Grab the rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Move the bread with golden crust to the cooking skillet with grippy handle using the right arm.", + "Use the right arm to move the bread with golden crust to the blackish-gray cast iron skillet.", + "Take the bread loaf with soft surface and put it in the blackish-gray cast iron skillet", + "Pick the bread loaf with soft surface up and place it in the blackish-gray cast iron skillet", + "Pick up the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Use the right arm to grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Grab the bread with golden crust and drop it into the blackish-gray cast iron skillet.", + "Grab the bread with golden crust and place it into the dark gray round cast iron pan.", + "Move the rectangular bread loaf to the cooking skillet with grippy handle using the right arm.", + "Use the right arm to move the bread loaf with soft surface to the blackish-gray cast iron skillet.", + "Take the bread with golden crust and put it in the blackish-gray cast iron skillet", + "Pick the bread loaf with soft surface up and place it in the cooking skillet with grippy handle", + "Pick up the bread with golden crust and drop it into the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and place it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and set it in the dark gray round cast iron pan", + "Use the right arm to grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and drop it into the dark gray round cast iron pan.", + "Grab the bread loaf with soft surface and place it into the dark gray round cast iron pan.", + "Move the bread with golden crust to the blackish-gray cast iron skillet using the right arm.", + "Use the right arm to move the bread with golden crust to the dark gray round cast iron pan.", + "Take the bread with golden crust and put it in the cooking skillet with grippy handle", + "Pick the bread loaf with soft surface up and place it in the blackish-gray cast iron skillet", + "Pick up the rectangular bread loaf and drop it into the dark gray round cast iron pan", + "Grab the rectangular bread loaf and place it in the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and drop it into the cooking skillet with grippy handle." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode35.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..cf005d972c5faeb9fccb0d6b46e11d2a325c0530 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the small loaf with curved top and stick it in the flat-bottom skillet.", + "Grab the small loaf with curved top using the left arm and place it in the black-surfaced skillet with gray sides", + "Take the bread with split top off the table into the black-surfaced skillet with gray sides", + "Use the left arm to stick the bread with golden-brown crust into the skillet with black cooking surface.", + "Set the hand-sized oval loaf into the metal skillet with comfortable grip after grabbing", + "Take the smooth loaf with rounded edges and put it in the smooth non-stick skillet.", + "Pick up the hand-sized oval loaf and put it in the skillet with black cooking surface", + "Take the small loaf with curved top with the left arm and drop into the skillet for frying food", + "Use the left arm to place the brown loaf into the metal skillet", + "Use the left arm to set the hand-sized oval loaf into the medium-sized frying skillet.", + "Place the light brown loaf with smooth sides into the medium-sized frying skillet using the left arm", + "Use the left arm to grab the golden bread loaf for the black-surfaced skillet with gray sides", + "Lift the small loaf with curved top and drop it into the smooth non-stick skillet.", + "Move the bread with golden-brown crust into the black-surfaced skillet with gray sides from the table", + "Use the left arm to grab the bread with warm golden color for the round skillet with open handle end", + "Use the left arm to take the bread with split top and move it into the skillet with black cooking surface.", + "Pick the light brown bread with ridges and transfer it to the gray skillet for stovetop cooking", + "Lift the small loaf with curved top using the left arm and move it to the gray skillet for stovetop cooking", + "Pick up the light brown bread with ridges and place it in the skillet for frying food.", + "Move the small loaf with curved top from table into the smooth non-stick skillet", + "Grab the hand-sized oval loaf from the table and set it in the round skillet with open handle end.", + "Take the small loaf with curved top and place it inside the skillet for frying food", + "Use the left arm to pick the light brown loaf with smooth sides and put it in the skillet for frying food", + "Use the left arm to move the light brown loaf with smooth sides and set it into the round skillet with open handle end.", + "Lift the bread with split top and drop it into the metal skillet with comfortable grip", + "Put the bread with golden-brown crust into the skillet for frying food after grabbing it", + "Grab the small loaf with curved top and place it inside the flat-bottom skillet.", + "Pick the soft brown bread off the table and place it in the dark gray skillet.", + "Take the golden bread loaf and place it inside the skillet for frying food", + "Use the left arm to grab the small loaf with curved top and set it in the smooth non-stick skillet.", + "Pick the bread with split top up using the left arm and drop it in the medium-sized frying skillet.", + "Take the bread with split top and put it in the black-surfaced skillet with gray sides.", + "Place the soft brown bread into the gray skillet for stovetop cooking with the left arm.", + "Use the left arm to move the light brown bread with ridges into the dark gray skillet", + "Place the golden bread loaf from the table into the gray skillet for stovetop cooking", + "Grab the soft brown bread and drop it into the metal skillet with comfortable grip", + "Take the light brown loaf with smooth sides and set it into the smooth non-stick skillet", + "Take the bread with golden-brown crust and drop it into the round skillet with open handle end.", + "Grab the hand-sized oval loaf with the left arm and place in the skillet with black cooking surface", + "Use the left arm to pick the bread with split top for the gray skillet for stovetop cooking", + "Pick the soft brown bread and set it into the round skillet with open handle end.", + "Use the left arm to pick the soft brown bread and place it into the skillet for frying food.", + "Pick up the bread with split top with the left arm and drop it in the dark gray skillet", + "Grab the bread with golden-brown crust and place it inside the round skillet with open handle end", + "Transfer the soft brown bread into the skillet with black cooking surface from the table", + "Put the brown loaf into the dark gray skillet.", + "Pick the light brown bread with ridges with the left arm and set it in the black-surfaced skillet with gray sides", + "Move the small golden brown bread to the metal skillet using the left arm", + "Use the left arm to pick the hand-sized oval loaf up for the black-surfaced skillet with gray sides", + "Use the left arm to lift the bread with golden-brown crust and place it into the skillet with black cooking surface.", + "Grab the bread with warm golden color and stick it in the smooth non-stick skillet.", + "Grab the smooth loaf with rounded edges using the left arm and place it in the round skillet with handle", + "Take the smooth loaf with rounded edges off the table into the round skillet with open handle end", + "Use the left arm to stick the light brown loaf with smooth sides into the gray skillet for stovetop cooking.", + "Set the small loaf with curved top into the gray skillet for stovetop cooking after grabbing", + "Take the bread with warm golden color and put it in the metal skillet.", + "Pick up the small golden brown bread and put it in the skillet for frying food", + "Take the bread with warm golden color with the left arm and drop into the skillet for frying food", + "Use the left arm to place the light brown loaf with smooth sides into the skillet with black cooking surface", + "Use the left arm to set the smooth loaf with rounded edges into the metal skillet with comfortable grip.", + "Place the smooth loaf with rounded edges into the flat-bottom skillet using the left arm", + "Use the left arm to grab the hand-sized oval loaf for the gray skillet for stovetop cooking", + "Lift the light brown bread with ridges and drop it into the round skillet with handle.", + "Move the light brown loaf with smooth sides into the metal skillet from the table", + "Use the left arm to grab the light brown loaf with smooth sides for the skillet for frying food", + "Use the left arm to take the soft brown bread and move it into the flat-bottom skillet.", + "Pick the small golden brown bread and transfer it to the dark gray skillet", + "Lift the bread with split top using the left arm and move it to the gray skillet for stovetop cooking", + "Pick up the hand-sized oval loaf and place it in the black-surfaced skillet with gray sides.", + "Move the smooth loaf with rounded edges from table into the flat-bottom skillet", + "Grab the bread with split top from the table and set it in the round skillet with open handle end.", + "Take the small golden brown bread and place it inside the metal skillet with comfortable grip", + "Use the left arm to pick the golden bread loaf and put it in the dark gray skillet", + "Use the left arm to move the soft brown bread and set it into the metal skillet.", + "Lift the light brown loaf with smooth sides and drop it into the metal skillet", + "Put the bread with golden-brown crust into the flat-bottom skillet after grabbing it", + "Grab the hand-sized oval loaf and place it inside the flat-bottom skillet.", + "Pick the small golden brown bread off the table and place it in the black-surfaced skillet with gray sides.", + "Take the soft brown bread and place it inside the smooth non-stick skillet", + "Use the left arm to grab the golden bread loaf and set it in the medium-sized frying skillet.", + "Pick the light brown loaf with smooth sides up using the left arm and drop it in the smooth non-stick skillet.", + "Take the bread with split top and put it in the medium-sized frying skillet.", + "Place the smooth loaf with rounded edges into the metal skillet with the left arm.", + "Use the left arm to move the small golden brown bread into the skillet for frying food", + "Place the brown loaf from the table into the metal skillet with comfortable grip", + "Grab the golden bread loaf and drop it into the skillet for frying food", + "Take the golden bread loaf and set it into the skillet for frying food", + "Take the golden bread loaf and drop it into the skillet for frying food.", + "Grab the golden bread loaf with the left arm and place in the metal skillet", + "Use the left arm to pick the soft brown bread for the metal skillet", + "Pick the brown loaf and set it into the smooth non-stick skillet.", + "Use the left arm to pick the small loaf with curved top and place it into the gray skillet for stovetop cooking.", + "Pick up the golden bread loaf with the left arm and drop it in the smooth non-stick skillet", + "Grab the hand-sized oval loaf and place it inside the round skillet with handle", + "Transfer the small golden brown bread into the skillet for frying food from the table", + "Put the bread with warm golden color into the round skillet with handle.", + "Pick the bread with golden-brown crust with the left arm and set it in the skillet with black cooking surface", + "Move the brown loaf to the gray skillet for stovetop cooking using the left arm", + "Use the left arm to pick the bread with warm golden color up for the flat-bottom skillet", + "Use the left arm to lift the small golden brown bread and place it into the skillet with black cooking surface." + ], + "unseen": [ + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Use the left arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Move the oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the left arm.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Use the left arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the left arm.", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Use the left arm to grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the oval bread to the dark skillet with shiny finish.", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the left arm.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the left arm.", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Take the oval bread and put it in the dark skillet with shiny finish", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Use the left arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the left arm.", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Use the left arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Use the left arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Move the oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Move the rounded oval bread to the dark skillet with shiny finish using the left arm.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode36.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..609262c914ba3c9c6090cc1eb80d68c96443b1da --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the small golden brown bread off the table and place it in the black skillet with long handle.", + "Pick up the brown loaf with the right arm and drop it in the black iron skillet for cooking", + "Take the smooth loaf with rounded edges and place it inside the skillet with wide round base", + "Use the right arm to pick the light brown loaf with smooth sides up for the black cooking tool skillet", + "Use the right arm to take the soft brown bread and move it into the black cooking tool skillet.", + "Use the right arm to pick the small loaf with curved top and put it in the black iron skillet for cooking", + "Use the right arm to set the light brown bread with ridges into the black skillet with long handle.", + "Move the bread with split top from table into the heavy cast iron skillet", + "Put the bread with warm golden color into the black skillet for frying foods.", + "Use the right arm to stick the bread with split top into the black skillet.", + "Pick up the brown loaf and put it in the black skillet", + "Use the right arm to pick the small loaf with curved top for the black cooking tool skillet", + "Lift the soft brown bread using the right arm and move it to the pan-shaped black skillet", + "Use the right arm to pick the bread with split top and place it into the black skillet with long handle.", + "Pick the light brown loaf with smooth sides and transfer it to the black skillet for frying foods", + "Place the bread with golden-brown crust into the black iron skillet for cooking with the right arm.", + "Grab the brown loaf and place it inside the skillet with wide round base.", + "Transfer the smooth loaf with rounded edges into the black skillet from the table", + "Use the right arm to grab the light brown loaf with smooth sides for the medium skillet with rough outside", + "Lift the bread with golden-brown crust and drop it into the black iron skillet for cooking.", + "Pick up the hand-sized oval loaf and place it in the heavy cast iron skillet.", + "Pick the light brown bread with ridges and set it into the black cooking tool skillet.", + "Take the bread with warm golden color and set it into the black skillet with long handle", + "Place the bread with split top into the skillet with looped handle using the right arm", + "Take the small golden brown bread and place it inside the black cooking tool skillet", + "Pick the bread with warm golden color up using the right arm and drop it in the skillet with looped handle.", + "Grab the small loaf with curved top with the right arm and place in the flat-bottomed black cast iron skillet", + "Set the light brown bread with ridges into the heavy cast iron skillet after grabbing", + "Take the golden bread loaf and put it in the medium skillet with rough outside.", + "Move the small golden brown bread to the heavy cast iron skillet using the right arm", + "Use the right arm to grab the golden bread loaf for the black iron skillet for cooking", + "Grab the bread with split top using the right arm and place it in the black skillet for frying foods", + "Grab the bread with golden-brown crust and drop it into the black skillet with long handle", + "Take the light brown bread with ridges and drop it into the medium skillet with rough outside.", + "Grab the bread with split top and stick it in the pan-shaped black skillet.", + "Move the bread with split top into the flat-bottomed black cast iron skillet from the table", + "Lift the light brown loaf with smooth sides and drop it into the medium skillet with rough outside", + "Put the soft brown bread into the black skillet after grabbing it", + "Take the bread with golden-brown crust off the table into the skillet with looped handle", + "Use the right arm to lift the light brown loaf with smooth sides and place it into the black skillet with long handle.", + "Use the right arm to place the light brown bread with ridges into the skillet with looped handle", + "Pick the light brown bread with ridges with the right arm and set it in the black skillet", + "Grab the small golden brown bread from the table and set it in the black skillet for frying foods.", + "Use the right arm to move the smooth loaf with rounded edges and set it into the skillet with looped handle.", + "Grab the golden bread loaf and place it inside the black skillet", + "Take the bread with split top and put it in the flat-bottomed black cast iron skillet.", + "Take the light brown loaf with smooth sides with the right arm and drop into the skillet with sturdy material", + "Use the right arm to move the soft brown bread into the black iron skillet for cooking", + "Place the small golden brown bread from the table into the skillet with wide round base", + "Use the right arm to grab the golden bread loaf and set it in the black skillet.", + "Pick the small loaf with curved top off the table and place it in the skillet with looped handle.", + "Pick up the light brown loaf with smooth sides with the right arm and drop it in the skillet with sturdy material", + "Take the hand-sized oval loaf and place it inside the pan-shaped black skillet", + "Use the right arm to pick the brown loaf up for the flat-bottomed black cast iron skillet", + "Use the right arm to take the brown loaf and move it into the skillet with looped handle.", + "Use the right arm to pick the bread with golden-brown crust and put it in the skillet with looped handle", + "Use the right arm to set the small golden brown bread into the skillet with wide round base.", + "Move the smooth loaf with rounded edges from table into the heavy cast iron skillet", + "Put the soft brown bread into the black cooking tool skillet.", + "Use the right arm to stick the bread with warm golden color into the black skillet for frying foods.", + "Pick up the bread with warm golden color and put it in the skillet with sturdy material", + "Use the right arm to pick the brown loaf for the black cooking tool skillet", + "Lift the bread with split top using the right arm and move it to the black skillet with long handle", + "Use the right arm to pick the light brown bread with ridges and place it into the flat-bottomed black cast iron skillet.", + "Pick the golden bread loaf and transfer it to the skillet with looped handle", + "Place the bread with split top into the black skillet with long handle with the right arm.", + "Grab the soft brown bread and place it inside the skillet with wide round base.", + "Transfer the small golden brown bread into the black skillet from the table", + "Use the right arm to grab the small golden brown bread for the black skillet with long handle", + "Lift the smooth loaf with rounded edges and drop it into the black iron skillet for cooking.", + "Pick up the bread with warm golden color and place it in the black cooking tool skillet.", + "Pick the bread with split top and set it into the skillet with sturdy material.", + "Take the brown loaf and set it into the heavy cast iron skillet", + "Place the bread with warm golden color into the skillet with sturdy material using the right arm", + "Take the small golden brown bread and place it inside the heavy cast iron skillet", + "Pick the light brown loaf with smooth sides up using the right arm and drop it in the black iron skillet for cooking.", + "Grab the light brown loaf with smooth sides with the right arm and place in the medium skillet with rough outside", + "Set the bread with golden-brown crust into the medium skillet with rough outside after grabbing", + "Take the light brown bread with ridges and put it in the skillet with looped handle.", + "Move the small loaf with curved top to the black cooking tool skillet using the right arm", + "Use the right arm to grab the small loaf with curved top for the black skillet", + "Grab the light brown bread with ridges using the right arm and place it in the heavy cast iron skillet", + "Grab the golden bread loaf and drop it into the black cooking tool skillet", + "Take the brown loaf and drop it into the black iron skillet for cooking.", + "Grab the smooth loaf with rounded edges and stick it in the skillet with wide round base.", + "Move the brown loaf into the heavy cast iron skillet from the table", + "Lift the bread with golden-brown crust and drop it into the pan-shaped black skillet", + "Put the smooth loaf with rounded edges into the skillet with wide round base after grabbing it", + "Take the bread with split top off the table into the black skillet with long handle", + "Use the right arm to lift the bread with golden-brown crust and place it into the skillet with looped handle.", + "Use the right arm to place the bread with split top into the black cooking tool skillet", + "Pick the soft brown bread with the right arm and set it in the black iron skillet for cooking", + "Grab the golden bread loaf from the table and set it in the medium skillet with rough outside.", + "Use the right arm to move the light brown loaf with smooth sides and set it into the heavy cast iron skillet.", + "Grab the small loaf with curved top and place it inside the black iron skillet for cooking", + "Take the bread with split top and put it in the black skillet with long handle.", + "Take the bread with warm golden color with the right arm and drop into the black skillet", + "Use the right arm to move the light brown bread with ridges into the black skillet with long handle", + "Place the smooth loaf with rounded edges from the table into the pan-shaped black skillet", + "Use the right arm to grab the bread with golden-brown crust and set it in the black iron skillet for cooking." + ], + "unseen": [ + "Grab the oval bread and place it into the smooth interior skillet.", + "Use the right arm to move the oval-shaped soft bread to the round black skillet.", + "Grab the rounded oval bread and place it in the smooth interior skillet", + "Pick the oval-shaped soft bread up and place it in the round black skillet", + "Grab the oval bread and drop it into the smooth interior skillet.", + "Grab the rounded oval bread and set it in the smooth interior skillet", + "Take the oval-shaped soft bread and put it in the round black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the smooth interior skillet", + "Move the oval bread to the round black skillet using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the smooth interior skillet", + "Grab the oval-shaped soft bread and place it into the smooth interior skillet.", + "Use the right arm to move the oval-shaped soft bread to the round black skillet.", + "Grab the oval bread and place it in the medium black frying skillet", + "Pick the rounded oval bread up and place it in the smooth interior skillet", + "Grab the oval-shaped soft bread and drop it into the medium black frying skillet.", + "Grab the rounded oval bread and set it in the round black skillet", + "Take the oval bread and put it in the medium black frying skillet", + "Use the right arm to grab the oval bread and set it in the medium black frying skillet", + "Move the oval bread to the round black skillet using the right arm.", + "Pick up the oval bread and drop it into the round black skillet", + "Grab the oval-shaped soft bread and place it into the round black skillet.", + "Use the right arm to move the rounded oval bread to the smooth interior skillet.", + "Grab the oval bread and place it in the round black skillet", + "Pick the oval bread up and place it in the smooth interior skillet", + "Grab the rounded oval bread and drop it into the smooth interior skillet.", + "Grab the rounded oval bread and set it in the smooth interior skillet", + "Take the rounded oval bread and put it in the smooth interior skillet", + "Use the right arm to grab the oval bread and set it in the round black skillet", + "Move the oval-shaped soft bread to the medium black frying skillet using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the smooth interior skillet", + "Grab the oval bread and place it into the medium black frying skillet.", + "Use the right arm to move the oval bread to the medium black frying skillet.", + "Grab the rounded oval bread and place it in the round black skillet", + "Pick the oval bread up and place it in the smooth interior skillet", + "Grab the oval-shaped soft bread and drop it into the round black skillet.", + "Grab the oval bread and set it in the medium black frying skillet", + "Take the rounded oval bread and put it in the medium black frying skillet", + "Use the right arm to grab the rounded oval bread and set it in the medium black frying skillet", + "Move the rounded oval bread to the medium black frying skillet using the right arm.", + "Pick up the rounded oval bread and drop it into the medium black frying skillet", + "Grab the oval bread and place it into the medium black frying skillet.", + "Use the right arm to move the oval-shaped soft bread to the medium black frying skillet.", + "Grab the rounded oval bread and place it in the medium black frying skillet", + "Pick the rounded oval bread up and place it in the smooth interior skillet", + "Grab the rounded oval bread and drop it into the smooth interior skillet.", + "Grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Take the oval-shaped soft bread and put it in the round black skillet", + "Use the right arm to grab the rounded oval bread and set it in the medium black frying skillet", + "Move the oval bread to the smooth interior skillet using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the round black skillet", + "Grab the oval-shaped soft bread and place it into the medium black frying skillet.", + "Use the right arm to move the oval bread to the medium black frying skillet.", + "Grab the rounded oval bread and place it in the medium black frying skillet", + "Pick the oval bread up and place it in the smooth interior skillet", + "Grab the oval-shaped soft bread and drop it into the smooth interior skillet.", + "Grab the oval bread and set it in the round black skillet", + "Take the oval-shaped soft bread and put it in the round black skillet", + "Use the right arm to grab the oval bread and set it in the round black skillet", + "Move the oval bread to the round black skillet using the right arm.", + "Pick up the oval bread and drop it into the medium black frying skillet", + "Grab the oval-shaped soft bread and place it into the round black skillet.", + "Use the right arm to move the oval-shaped soft bread to the round black skillet.", + "Grab the rounded oval bread and place it in the smooth interior skillet", + "Pick the oval-shaped soft bread up and place it in the smooth interior skillet", + "Grab the oval bread and drop it into the round black skillet.", + "Grab the oval bread and set it in the medium black frying skillet", + "Take the rounded oval bread and put it in the smooth interior skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the round black skillet", + "Move the rounded oval bread to the medium black frying skillet using the right arm.", + "Pick up the oval bread and drop it into the medium black frying skillet", + "Grab the rounded oval bread and place it into the medium black frying skillet.", + "Use the right arm to move the oval bread to the medium black frying skillet.", + "Grab the oval bread and place it in the medium black frying skillet", + "Pick the oval-shaped soft bread up and place it in the round black skillet", + "Grab the rounded oval bread and drop it into the medium black frying skillet.", + "Grab the oval bread and set it in the round black skillet", + "Take the oval-shaped soft bread and put it in the smooth interior skillet", + "Use the right arm to grab the rounded oval bread and set it in the round black skillet", + "Move the rounded oval bread to the smooth interior skillet using the right arm.", + "Pick up the rounded oval bread and drop it into the round black skillet", + "Grab the oval bread and place it into the round black skillet.", + "Use the right arm to move the rounded oval bread to the round black skillet.", + "Grab the oval bread and place it in the medium black frying skillet", + "Pick the oval bread up and place it in the round black skillet", + "Grab the rounded oval bread and drop it into the smooth interior skillet.", + "Grab the oval bread and set it in the smooth interior skillet", + "Take the oval-shaped soft bread and put it in the medium black frying skillet", + "Use the right arm to grab the rounded oval bread and set it in the smooth interior skillet", + "Move the oval-shaped soft bread to the medium black frying skillet using the right arm.", + "Pick up the rounded oval bread and drop it into the medium black frying skillet", + "Grab the oval-shaped soft bread and place it into the medium black frying skillet.", + "Use the right arm to move the oval bread to the smooth interior skillet.", + "Grab the oval bread and place it in the round black skillet", + "Pick the oval bread up and place it in the smooth interior skillet", + "Grab the rounded oval bread and drop it into the round black skillet.", + "Grab the rounded oval bread and set it in the round black skillet", + "Take the rounded oval bread and put it in the round black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Move the oval bread to the smooth interior skillet using the right arm.", + "Pick up the oval bread and drop it into the medium black frying skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode37.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..f7bb828639c5edc6392c894bc7db9b8be96e7223 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the square loaf of bread for the skillet with wide round base", + "Put the brown bread loaf into the black cooking tool skillet.", + "Place the bread loaf with square shape into the skillet with wide round base with the right arm.", + "Put the bread loaf with square shape into the black cooking tool skillet after grabbing it", + "Use the right arm to pick the golden crusted bread slice and place it into the skillet with wide round base.", + "Grab the rectangular bread soft inside and drop it into the black cooking tool skillet", + "Take the golden brown loaf-shaped bread with the right arm and drop into the heavy cast iron skillet", + "Use the right arm to grab the brown bread loaf and set it in the black cooking tool skillet.", + "Grab the square loaf of bread using the right arm and place it in the flat-bottomed black cast iron skillet", + "Grab the soft golden baked bread and place it inside the medium skillet with rough outside.", + "Move the golden brown loaf-shaped bread to the black iron skillet for cooking using the right arm", + "Take the square loaf of bread and place it inside the skillet with looped handle", + "Pick the bread loaf with square shape off the table and place it in the skillet with wide round base.", + "Place the rectangular bread soft inside from the table into the medium skillet with rough outside", + "Pick up the soft golden baked bread with the right arm and drop it in the black iron skillet for cooking", + "Take the golden crusted bread slice and set it into the flat-bottomed black cast iron skillet", + "Pick the rectangular bread soft inside and transfer it to the pan-shaped black skillet", + "Pick the rectangular bread soft inside with the right arm and set it in the black skillet with long handle", + "Move the brown bread loaf into the black skillet with long handle from the table", + "Grab the golden brown loaf-shaped bread from the table and set it in the skillet with wide round base.", + "Pick the golden brown loaf-shaped bread and set it into the black skillet with long handle.", + "Use the right arm to pick the bread with firm crust edges and put it in the heavy cast iron skillet", + "Take the soft golden baked bread and place it inside the black skillet for frying foods", + "Take the golden brown loaf-shaped bread and drop it into the skillet with sturdy material.", + "Use the right arm to place the golden bread into the black iron skillet for cooking", + "Use the right arm to set the golden brown loaf-shaped bread into the skillet with sturdy material.", + "Use the right arm to pick the brown bread loaf up for the skillet with sturdy material", + "Pick up the brown bread loaf and place it in the black iron skillet for cooking.", + "Use the right arm to move the soft golden baked bread and set it into the black iron skillet for cooking.", + "Pick the rectangular bread soft inside up using the right arm and drop it in the flat-bottomed black cast iron skillet.", + "Take the bread with rounded corners and put it in the black cooking tool skillet.", + "Use the right arm to grab the golden crusted bread slice for the medium skillet with rough outside", + "Set the brown bread loaf into the black skillet with long handle after grabbing", + "Pick up the golden crusted bread slice and put it in the black cooking tool skillet", + "Take the golden crusted bread slice off the table into the black skillet with long handle", + "Lift the golden brown loaf-shaped bread and drop it into the black iron skillet for cooking", + "Use the right arm to take the golden crusted bread slice and move it into the medium skillet with rough outside.", + "Transfer the golden bread into the black skillet from the table", + "Place the slice-shaped bread into the heavy cast iron skillet using the right arm", + "Lift the bread loaf with square shape using the right arm and move it to the medium skillet with rough outside", + "Take the square loaf of bread and put it in the black skillet.", + "Use the right arm to stick the bread with rounded corners into the skillet with looped handle.", + "Use the right arm to lift the soft golden baked bread and place it into the pan-shaped black skillet.", + "Grab the brown bread loaf with the right arm and place in the pan-shaped black skillet", + "Move the golden crusted bread slice from table into the flat-bottomed black cast iron skillet", + "Use the right arm to pick the bread loaf with square shape for the black skillet for frying foods", + "Grab the square loaf of bread and place it inside the black skillet", + "Lift the rectangular bread soft inside and drop it into the black cooking tool skillet.", + "Use the right arm to move the brown bread loaf into the black iron skillet for cooking", + "Grab the golden brown loaf-shaped bread and stick it in the skillet with wide round base.", + "Use the right arm to grab the slice-shaped bread for the black skillet", + "Put the bread loaf with square shape into the flat-bottomed black cast iron skillet.", + "Place the golden bread into the skillet with sturdy material with the right arm.", + "Put the bread with rounded corners into the pan-shaped black skillet after grabbing it", + "Use the right arm to pick the bread with golden surface color and place it into the pan-shaped black skillet.", + "Grab the bread with firm crust edges and drop it into the black skillet with long handle", + "Take the soft golden baked bread with the right arm and drop into the skillet with wide round base", + "Use the right arm to grab the golden bread and set it in the pan-shaped black skillet.", + "Grab the soft golden baked bread using the right arm and place it in the black skillet", + "Grab the slice-shaped bread and place it inside the medium skillet with rough outside.", + "Move the rectangular bread soft inside to the heavy cast iron skillet using the right arm", + "Take the square loaf of bread and place it inside the skillet with looped handle", + "Pick the square loaf of bread off the table and place it in the skillet with sturdy material.", + "Place the bread with rounded corners from the table into the black iron skillet for cooking", + "Pick up the bread with rounded corners with the right arm and drop it in the black skillet with long handle", + "Take the bread with firm crust edges and set it into the heavy cast iron skillet", + "Pick the golden brown loaf-shaped bread and transfer it to the black iron skillet for cooking", + "Pick the square loaf of bread with the right arm and set it in the pan-shaped black skillet", + "Move the golden brown loaf-shaped bread into the skillet with looped handle from the table", + "Grab the bread with rounded corners from the table and set it in the pan-shaped black skillet.", + "Pick the square loaf of bread and set it into the skillet with sturdy material.", + "Use the right arm to pick the golden brown loaf-shaped bread and put it in the skillet with sturdy material", + "Take the golden bread and place it inside the black skillet with long handle", + "Take the bread with rounded corners and drop it into the skillet with sturdy material.", + "Use the right arm to place the bread with firm crust edges into the black cooking tool skillet", + "Use the right arm to set the bread with firm crust edges into the medium skillet with rough outside.", + "Use the right arm to pick the golden brown loaf-shaped bread up for the skillet with wide round base", + "Pick up the bread with firm crust edges and place it in the black iron skillet for cooking.", + "Use the right arm to move the golden brown loaf-shaped bread and set it into the skillet with looped handle.", + "Pick the brown bread loaf up using the right arm and drop it in the skillet with wide round base.", + "Take the golden crusted bread slice and put it in the skillet with wide round base.", + "Use the right arm to grab the rectangular bread soft inside for the pan-shaped black skillet", + "Set the golden bread into the black cooking tool skillet after grabbing", + "Pick up the golden brown loaf-shaped bread and put it in the black skillet", + "Take the square loaf of bread off the table into the black skillet", + "Lift the bread with golden surface color and drop it into the skillet with sturdy material", + "Use the right arm to take the bread with firm crust edges and move it into the skillet with looped handle.", + "Transfer the bread with firm crust edges into the black skillet with long handle from the table", + "Place the bread with rounded corners into the black iron skillet for cooking using the right arm", + "Lift the bread with golden surface color using the right arm and move it to the flat-bottomed black cast iron skillet", + "Take the golden brown loaf-shaped bread and put it in the black skillet.", + "Use the right arm to stick the bread loaf with square shape into the heavy cast iron skillet.", + "Use the right arm to lift the golden bread and place it into the black cooking tool skillet.", + "Grab the brown bread loaf with the right arm and place in the skillet with looped handle", + "Move the slice-shaped bread from table into the skillet with wide round base", + "Use the right arm to pick the rectangular bread soft inside for the heavy cast iron skillet", + "Grab the square loaf of bread and place it inside the black skillet with long handle", + "Lift the golden bread and drop it into the heavy cast iron skillet.", + "Use the right arm to move the square loaf of bread into the black skillet for frying foods", + "Grab the bread loaf with square shape and stick it in the skillet with wide round base." + ], + "unseen": [ + "Grab the soft rectangular bread loaf and place it into the smooth interior skillet.", + "Pick the bread loaf medium-sized up and place it in the medium black frying skillet", + "Pick up the bread loaf medium-sized and drop it into the medium black frying skillet", + "Move the soft rectangular bread loaf to the medium black frying skillet using the right arm.", + "Grab the bread loaf medium-sized and drop it into the medium black frying skillet.", + "Use the right arm to move the soft rectangular bread loaf to the smooth interior skillet.", + "Use the right arm to grab the bread loaf medium-sized and set it in the round black skillet", + "Take the small loaf-shaped bread and put it in the medium black frying skillet", + "Grab the small loaf-shaped bread and place it in the round black skillet", + "Grab the bread loaf medium-sized and set it in the round black skillet", + "Grab the small loaf-shaped bread and place it into the smooth interior skillet.", + "Pick the bread loaf medium-sized up and place it in the smooth interior skillet", + "Pick up the soft rectangular bread loaf and drop it into the smooth interior skillet", + "Move the bread loaf medium-sized to the round black skillet using the right arm.", + "Grab the soft rectangular bread loaf and drop it into the smooth interior skillet.", + "Use the right arm to move the soft rectangular bread loaf to the smooth interior skillet.", + "Use the right arm to grab the bread loaf medium-sized and set it in the smooth interior skillet", + "Take the small loaf-shaped bread and put it in the smooth interior skillet", + "Grab the soft rectangular bread loaf and place it in the medium black frying skillet", + "Grab the soft rectangular bread loaf and set it in the smooth interior skillet", + "Grab the small loaf-shaped bread and place it into the round black skillet.", + "Pick the small loaf-shaped bread up and place it in the smooth interior skillet", + "Pick up the bread loaf medium-sized and drop it into the medium black frying skillet", + "Move the soft rectangular bread loaf to the medium black frying skillet using the right arm.", + "Grab the small loaf-shaped bread and drop it into the smooth interior skillet.", + "Use the right arm to move the bread loaf medium-sized to the round black skillet.", + "Use the right arm to grab the bread loaf medium-sized and set it in the round black skillet", + "Take the small loaf-shaped bread and put it in the medium black frying skillet", + "Grab the bread loaf medium-sized and place it in the medium black frying skillet", + "Grab the soft rectangular bread loaf and set it in the smooth interior skillet", + "Grab the bread loaf medium-sized and place it into the medium black frying skillet.", + "Pick the small loaf-shaped bread up and place it in the medium black frying skillet", + "Pick up the bread loaf medium-sized and drop it into the round black skillet", + "Move the soft rectangular bread loaf to the smooth interior skillet using the right arm.", + "Grab the bread loaf medium-sized and drop it into the round black skillet.", + "Use the right arm to move the bread loaf medium-sized to the smooth interior skillet.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the round black skillet", + "Take the bread loaf medium-sized and put it in the medium black frying skillet", + "Grab the bread loaf medium-sized and place it in the round black skillet", + "Grab the small loaf-shaped bread and set it in the medium black frying skillet", + "Grab the small loaf-shaped bread and place it into the medium black frying skillet.", + "Pick the small loaf-shaped bread up and place it in the round black skillet", + "Pick up the soft rectangular bread loaf and drop it into the smooth interior skillet", + "Move the soft rectangular bread loaf to the round black skillet using the right arm.", + "Grab the small loaf-shaped bread and drop it into the medium black frying skillet.", + "Use the right arm to move the bread loaf medium-sized to the round black skillet.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the smooth interior skillet", + "Take the small loaf-shaped bread and put it in the smooth interior skillet", + "Grab the soft rectangular bread loaf and place it in the smooth interior skillet", + "Grab the soft rectangular bread loaf and set it in the round black skillet", + "Grab the small loaf-shaped bread and place it into the medium black frying skillet.", + "Pick the bread loaf medium-sized up and place it in the smooth interior skillet", + "Pick up the bread loaf medium-sized and drop it into the medium black frying skillet", + "Move the small loaf-shaped bread to the smooth interior skillet using the right arm.", + "Grab the soft rectangular bread loaf and drop it into the smooth interior skillet.", + "Use the right arm to move the soft rectangular bread loaf to the medium black frying skillet.", + "Use the right arm to grab the small loaf-shaped bread and set it in the smooth interior skillet", + "Take the small loaf-shaped bread and put it in the round black skillet", + "Grab the bread loaf medium-sized and place it in the medium black frying skillet", + "Grab the bread loaf medium-sized and set it in the medium black frying skillet", + "Grab the small loaf-shaped bread and place it into the round black skillet.", + "Pick the bread loaf medium-sized up and place it in the round black skillet", + "Pick up the soft rectangular bread loaf and drop it into the medium black frying skillet", + "Move the soft rectangular bread loaf to the round black skillet using the right arm.", + "Grab the small loaf-shaped bread and drop it into the round black skillet.", + "Use the right arm to move the small loaf-shaped bread to the round black skillet.", + "Use the right arm to grab the bread loaf medium-sized and set it in the medium black frying skillet", + "Take the small loaf-shaped bread and put it in the round black skillet", + "Grab the small loaf-shaped bread and place it in the medium black frying skillet", + "Grab the bread loaf medium-sized and set it in the smooth interior skillet", + "Grab the bread loaf medium-sized and place it into the smooth interior skillet.", + "Pick the soft rectangular bread loaf up and place it in the round black skillet", + "Pick up the bread loaf medium-sized and drop it into the round black skillet", + "Move the bread loaf medium-sized to the smooth interior skillet using the right arm.", + "Grab the small loaf-shaped bread and drop it into the smooth interior skillet.", + "Use the right arm to move the soft rectangular bread loaf to the medium black frying skillet.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the round black skillet", + "Take the soft rectangular bread loaf and put it in the smooth interior skillet", + "Grab the soft rectangular bread loaf and place it in the smooth interior skillet", + "Grab the small loaf-shaped bread and set it in the round black skillet", + "Grab the bread loaf medium-sized and place it into the round black skillet.", + "Pick the small loaf-shaped bread up and place it in the smooth interior skillet", + "Pick up the soft rectangular bread loaf and drop it into the smooth interior skillet", + "Move the small loaf-shaped bread to the medium black frying skillet using the right arm.", + "Grab the bread loaf medium-sized and drop it into the round black skillet.", + "Use the right arm to move the bread loaf medium-sized to the smooth interior skillet.", + "Use the right arm to grab the bread loaf medium-sized and set it in the medium black frying skillet", + "Take the small loaf-shaped bread and put it in the smooth interior skillet", + "Grab the bread loaf medium-sized and place it in the smooth interior skillet", + "Grab the bread loaf medium-sized and set it in the smooth interior skillet", + "Grab the soft rectangular bread loaf and place it into the medium black frying skillet.", + "Pick the small loaf-shaped bread up and place it in the smooth interior skillet", + "Pick up the soft rectangular bread loaf and drop it into the smooth interior skillet", + "Move the small loaf-shaped bread to the medium black frying skillet using the right arm.", + "Grab the small loaf-shaped bread and drop it into the round black skillet.", + "Use the right arm to move the bread loaf medium-sized to the smooth interior skillet.", + "Use the right arm to grab the small loaf-shaped bread and set it in the round black skillet", + "Take the soft rectangular bread loaf and put it in the medium black frying skillet", + "Grab the small loaf-shaped bread and place it in the smooth interior skillet", + "Grab the small loaf-shaped bread and set it in the smooth interior skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode38.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..b7ecebbbb42e06940209c2f695969d34063c0275 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the doughy and soft bread with the right arm and place in the smooth non-stick skillet", + "Take the light golden brown bread and set it into the metal skillet with comfortable grip", + "Move the square-shaped bread from table into the black-surfaced skillet with gray sides", + "Use the right arm to set the light golden brown bread into the dark gray skillet.", + "Use the right arm to pick the bread with rough texture and place it into the flat-bottom skillet.", + "Pick the soft bread and set it into the gray skillet for stovetop cooking.", + "Take the golden bread loaf off the table into the gray skillet for stovetop cooking", + "Take the bread loaf with uneven edges and drop it into the round skillet with open handle end.", + "Pick up the hand-sized bread block and put it in the smooth non-stick skillet", + "Take the cuboid bread with the right arm and drop into the dark gray skillet", + "Put the golden bread into the black-surfaced skillet with gray sides.", + "Use the right arm to stick the bread with rough texture into the round skillet with open handle end.", + "Grab the soft bread and drop it into the gray skillet for stovetop cooking", + "Pick up the bread loaf with uneven edges and place it in the round skillet with open handle end.", + "Put the bread block with light patches into the metal skillet with comfortable grip after grabbing it", + "Use the right arm to place the golden bread loaf into the dark gray skillet", + "Grab the square-shaped bread and place it inside the metal skillet with comfortable grip", + "Pick the bread loaf with bumpy surface with the right arm and set it in the smooth non-stick skillet", + "Grab the cuboid bread and place it inside the black-surfaced skillet with gray sides.", + "Use the right arm to move the light golden brown bread into the round skillet with open handle end", + "Lift the square-shaped bread using the right arm and move it to the skillet with black cooking surface", + "Pick the square-shaped bread up using the right arm and drop it in the round skillet with open handle end.", + "Take the doughy and soft bread and put it in the flat-bottom skillet.", + "Use the right arm to grab the bread block with light patches for the flat-bottom skillet", + "Grab the golden bread from the table and set it in the round skillet with open handle end.", + "Grab the bread loaf with uneven edges and stick it in the round skillet with handle.", + "Lift the soft bread and drop it into the medium-sized frying skillet.", + "Use the right arm to lift the bread with rough texture and place it into the gray skillet for stovetop cooking.", + "Pick the golden bread and transfer it to the metal skillet with comfortable grip", + "Pick the bread loaf with bumpy surface off the table and place it in the skillet for frying food.", + "Set the bread with rough texture into the metal skillet with comfortable grip after grabbing", + "Place the golden bread loaf from the table into the round skillet with handle", + "Move the golden bread into the metal skillet with comfortable grip from the table", + "Use the right arm to move the bread loaf with uneven edges and set it into the flat-bottom skillet.", + "Lift the doughy and soft bread and drop it into the skillet with black cooking surface", + "Use the right arm to grab the doughy and soft bread for the metal skillet with comfortable grip", + "Place the bread with rough texture into the medium-sized frying skillet with the right arm.", + "Take the soft bread and put it in the gray skillet for stovetop cooking.", + "Place the bread block with light patches into the round skillet with open handle end using the right arm", + "Take the bread with rough texture and place it inside the metal skillet with comfortable grip", + "Use the right arm to take the bread loaf with uneven edges and move it into the flat-bottom skillet.", + "Use the right arm to pick the doughy and soft bread and put it in the black-surfaced skillet with gray sides", + "Use the right arm to pick the golden bread loaf up for the black-surfaced skillet with gray sides", + "Grab the bread block with light patches using the right arm and place it in the flat-bottom skillet", + "Take the square-shaped bread and place it inside the skillet with black cooking surface", + "Use the right arm to pick the bread loaf with bumpy surface for the skillet for frying food", + "Use the right arm to grab the golden bread and set it in the skillet for frying food.", + "Pick up the doughy and soft bread with the right arm and drop it in the black-surfaced skillet with gray sides", + "Transfer the golden bread into the smooth non-stick skillet from the table", + "Move the cuboid bread to the skillet for frying food using the right arm", + "Grab the golden bread loaf with the right arm and place in the medium-sized frying skillet", + "Take the bread with rough texture and set it into the dark gray skillet", + "Move the bread loaf with bumpy surface from table into the flat-bottom skillet", + "Use the right arm to set the bread loaf with uneven edges into the metal skillet.", + "Use the right arm to pick the soft bread and place it into the round skillet with handle.", + "Pick the bread with rough texture and set it into the metal skillet.", + "Take the bread loaf with uneven edges off the table into the skillet with black cooking surface", + "Take the square-shaped bread and drop it into the black-surfaced skillet with gray sides.", + "Pick up the bread loaf with uneven edges and put it in the metal skillet with comfortable grip", + "Take the golden bread with the right arm and drop into the metal skillet", + "Put the square-shaped bread into the round skillet with handle.", + "Use the right arm to stick the hand-sized bread block into the dark gray skillet.", + "Grab the soft bread and drop it into the smooth non-stick skillet", + "Pick up the light golden brown bread and place it in the metal skillet.", + "Put the light golden brown bread into the skillet with black cooking surface after grabbing it", + "Use the right arm to place the hand-sized bread block into the metal skillet", + "Grab the bread loaf with bumpy surface and place it inside the metal skillet with comfortable grip", + "Pick the bread loaf with bumpy surface with the right arm and set it in the dark gray skillet", + "Grab the bread loaf with bumpy surface and place it inside the round skillet with open handle end.", + "Use the right arm to move the soft bread into the round skillet with handle", + "Lift the hand-sized bread block using the right arm and move it to the black-surfaced skillet with gray sides", + "Pick the golden bread up using the right arm and drop it in the metal skillet.", + "Take the square-shaped bread and put it in the medium-sized frying skillet.", + "Use the right arm to grab the hand-sized bread block for the metal skillet with comfortable grip", + "Grab the hand-sized bread block from the table and set it in the gray skillet for stovetop cooking.", + "Grab the bread with rough texture and stick it in the black-surfaced skillet with gray sides.", + "Lift the golden bread and drop it into the skillet for frying food.", + "Use the right arm to lift the bread block with light patches and place it into the smooth non-stick skillet.", + "Pick the soft bread and transfer it to the round skillet with handle", + "Pick the light golden brown bread off the table and place it in the metal skillet.", + "Set the bread with rough texture into the metal skillet after grabbing", + "Place the hand-sized bread block from the table into the flat-bottom skillet", + "Move the bread block with light patches into the metal skillet from the table", + "Use the right arm to move the golden bread loaf and set it into the medium-sized frying skillet.", + "Lift the hand-sized bread block and drop it into the flat-bottom skillet", + "Use the right arm to grab the cuboid bread for the gray skillet for stovetop cooking", + "Place the doughy and soft bread into the round skillet with open handle end with the right arm.", + "Take the bread loaf with bumpy surface and put it in the smooth non-stick skillet.", + "Place the golden bread loaf into the skillet for frying food using the right arm", + "Take the golden bread and place it inside the dark gray skillet", + "Use the right arm to take the doughy and soft bread and move it into the black-surfaced skillet with gray sides.", + "Use the right arm to pick the bread loaf with bumpy surface and put it in the skillet with black cooking surface", + "Use the right arm to pick the soft bread up for the skillet for frying food", + "Grab the cuboid bread using the right arm and place it in the round skillet with open handle end", + "Take the bread loaf with bumpy surface and place it inside the metal skillet", + "Use the right arm to pick the bread block with light patches for the medium-sized frying skillet", + "Use the right arm to grab the doughy and soft bread and set it in the metal skillet.", + "Pick up the doughy and soft bread with the right arm and drop it in the gray skillet for stovetop cooking", + "Transfer the bread loaf with bumpy surface into the metal skillet with comfortable grip from the table", + "Move the square-shaped bread to the round skillet with open handle end using the right arm" + ], + "unseen": [ + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the right arm.", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Use the right arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the right arm.", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode39.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..e551185b7208dc97c62d90a4b17ad191f856650f --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the rectangular bread soft inside from table into the metal skillet", + "Use the left arm to pick the bread with golden surface color up for the round skillet with handle", + "Use the left arm to grab the golden brown loaf-shaped bread for the round skillet with open handle end", + "Pick up the bread loaf with square shape and put it in the black-surfaced skillet with gray sides", + "Use the left arm to lift the bread with firm crust edges and place it into the round skillet with open handle end.", + "Use the left arm to move the brown bread loaf and set it into the medium-sized frying skillet.", + "Pick up the bread with rounded corners with the left arm and drop it in the skillet with black cooking surface", + "Pick the soft golden baked bread and transfer it to the round skillet with handle", + "Take the soft golden baked bread off the table into the dark gray skillet", + "Pick the bread with golden surface color and set it into the dark gray skillet.", + "Grab the bread with firm crust edges and place it inside the flat-bottom skillet.", + "Move the bread with rounded corners into the skillet with black cooking surface from the table", + "Take the golden brown loaf-shaped bread and put it in the metal skillet.", + "Use the left arm to take the bread with golden surface color and move it into the skillet with black cooking surface.", + "Use the left arm to pick the golden bread for the smooth non-stick skillet", + "Take the square loaf of bread with the left arm and drop into the skillet for frying food", + "Grab the golden crusted bread slice and drop it into the smooth non-stick skillet", + "Use the left arm to grab the slice-shaped bread for the skillet for frying food", + "Move the bread loaf with square shape to the gray skillet for stovetop cooking using the left arm", + "Grab the soft golden baked bread using the left arm and place it in the black-surfaced skillet with gray sides", + "Place the square loaf of bread into the medium-sized frying skillet with the left arm.", + "Use the left arm to pick the brown bread loaf and place it into the flat-bottom skillet.", + "Take the golden brown loaf-shaped bread and set it into the black-surfaced skillet with gray sides", + "Grab the brown bread loaf from the table and set it in the smooth non-stick skillet.", + "Grab the soft golden baked bread and stick it in the metal skillet with comfortable grip.", + "Transfer the bread with rounded corners into the round skillet with open handle end from the table", + "Lift the square loaf of bread and drop it into the round skillet with handle.", + "Use the left arm to place the brown bread loaf into the round skillet with open handle end", + "Pick the bread loaf with square shape off the table and place it in the black-surfaced skillet with gray sides.", + "Put the bread loaf with square shape into the round skillet with open handle end.", + "Place the rectangular bread soft inside from the table into the round skillet with handle", + "Take the golden crusted bread slice and drop it into the metal skillet.", + "Pick the bread with rounded corners up using the left arm and drop it in the flat-bottom skillet.", + "Lift the golden crusted bread slice and drop it into the metal skillet with comfortable grip", + "Use the left arm to grab the brown bread loaf and set it in the metal skillet with comfortable grip.", + "Grab the slice-shaped bread and place it inside the dark gray skillet", + "Grab the bread with firm crust edges with the left arm and place in the gray skillet for stovetop cooking", + "Take the square loaf of bread and place it inside the skillet for frying food", + "Use the left arm to pick the golden brown loaf-shaped bread and put it in the gray skillet for stovetop cooking", + "Use the left arm to stick the golden crusted bread slice into the round skillet with handle.", + "Pick the rectangular bread soft inside with the left arm and set it in the flat-bottom skillet", + "Use the left arm to set the brown bread loaf into the black-surfaced skillet with gray sides.", + "Pick up the rectangular bread soft inside and place it in the dark gray skillet.", + "Place the square loaf of bread into the metal skillet with comfortable grip using the left arm", + "Lift the slice-shaped bread using the left arm and move it to the black-surfaced skillet with gray sides", + "Use the left arm to move the golden crusted bread slice into the metal skillet", + "Set the golden crusted bread slice into the dark gray skillet after grabbing", + "Put the brown bread loaf into the black-surfaced skillet with gray sides after grabbing it", + "Take the bread with rounded corners and place it inside the round skillet with open handle end", + "Take the brown bread loaf and put it in the gray skillet for stovetop cooking.", + "Move the soft golden baked bread from table into the black-surfaced skillet with gray sides", + "Use the left arm to pick the golden crusted bread slice up for the medium-sized frying skillet", + "Use the left arm to grab the golden brown loaf-shaped bread for the skillet with black cooking surface", + "Pick up the bread with golden surface color and put it in the metal skillet", + "Use the left arm to lift the bread with firm crust edges and place it into the flat-bottom skillet.", + "Use the left arm to move the rectangular bread soft inside and set it into the round skillet with open handle end.", + "Pick up the bread loaf with square shape with the left arm and drop it in the medium-sized frying skillet", + "Pick the golden crusted bread slice and transfer it to the skillet with black cooking surface", + "Take the golden bread off the table into the skillet for frying food", + "Pick the golden bread and set it into the smooth non-stick skillet.", + "Grab the square loaf of bread and place it inside the flat-bottom skillet.", + "Move the bread with rounded corners into the metal skillet with comfortable grip from the table", + "Take the bread loaf with square shape and put it in the skillet with black cooking surface.", + "Use the left arm to take the bread with golden surface color and move it into the round skillet with open handle end.", + "Use the left arm to pick the golden bread for the metal skillet with comfortable grip", + "Take the bread with firm crust edges with the left arm and drop into the round skillet with open handle end", + "Grab the brown bread loaf and drop it into the smooth non-stick skillet", + "Use the left arm to grab the golden crusted bread slice for the skillet with black cooking surface", + "Move the slice-shaped bread to the metal skillet using the left arm", + "Grab the golden crusted bread slice using the left arm and place it in the smooth non-stick skillet", + "Place the soft golden baked bread into the dark gray skillet with the left arm.", + "Use the left arm to pick the golden bread and place it into the metal skillet.", + "Take the bread with golden surface color and set it into the metal skillet with comfortable grip", + "Grab the golden crusted bread slice from the table and set it in the smooth non-stick skillet.", + "Grab the bread with golden surface color and stick it in the flat-bottom skillet.", + "Transfer the slice-shaped bread into the round skillet with handle from the table", + "Lift the brown bread loaf and drop it into the smooth non-stick skillet.", + "Use the left arm to place the bread with rounded corners into the dark gray skillet", + "Pick the bread with firm crust edges off the table and place it in the round skillet with open handle end.", + "Put the soft golden baked bread into the flat-bottom skillet.", + "Place the brown bread loaf from the table into the metal skillet", + "Take the bread with rounded corners and drop it into the flat-bottom skillet.", + "Pick the bread with golden surface color up using the left arm and drop it in the dark gray skillet.", + "Lift the square loaf of bread and drop it into the dark gray skillet", + "Use the left arm to grab the square loaf of bread and set it in the smooth non-stick skillet.", + "Grab the bread with golden surface color and place it inside the black-surfaced skillet with gray sides", + "Grab the golden crusted bread slice with the left arm and place in the dark gray skillet", + "Take the bread with firm crust edges and place it inside the skillet for frying food", + "Use the left arm to pick the rectangular bread soft inside and put it in the skillet for frying food", + "Use the left arm to stick the brown bread loaf into the gray skillet for stovetop cooking.", + "Pick the bread with firm crust edges with the left arm and set it in the metal skillet with comfortable grip", + "Use the left arm to set the bread with firm crust edges into the skillet for frying food.", + "Pick up the golden brown loaf-shaped bread and place it in the smooth non-stick skillet.", + "Place the golden bread into the skillet for frying food using the left arm", + "Lift the golden brown loaf-shaped bread using the left arm and move it to the metal skillet with comfortable grip", + "Use the left arm to move the brown bread loaf into the smooth non-stick skillet", + "Set the bread with firm crust edges into the smooth non-stick skillet after grabbing", + "Put the bread with golden surface color into the skillet for frying food after grabbing it", + "Take the golden brown loaf-shaped bread and place it inside the gray skillet for stovetop cooking", + "Take the bread with firm crust edges and put it in the metal skillet." + ], + "unseen": [ + "Move the bread loaf medium-sized to the versatile skillet for frying and sauteing using the left arm.", + "Grab the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Pick up the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing", + "Pick the bread loaf medium-sized up and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and place it in the dark skillet with shiny finish", + "Take the soft rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Move the bread loaf medium-sized to the versatile skillet for frying and sauteing using the left arm.", + "Grab the small loaf-shaped bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Pick up the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing", + "Pick the small loaf-shaped bread up and place it in the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf medium-sized and place it in the dark skillet with shiny finish", + "Take the bread loaf medium-sized and put it in the dark skillet with shiny finish", + "Use the left arm to move the soft rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Move the small loaf-shaped bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the soft rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the bread loaf medium-sized and set it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it into the dark skillet with shiny finish.", + "Pick up the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing", + "Pick the small loaf-shaped bread up and place it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and place it in the dark skillet with shiny finish", + "Take the small loaf-shaped bread and put it in the dark skillet with shiny finish", + "Use the left arm to move the small loaf-shaped bread to the dark skillet with shiny finish.", + "Move the bread loaf medium-sized to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the small loaf-shaped bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Pick up the bread loaf medium-sized and drop it into the dark skillet with shiny finish", + "Pick the bread loaf medium-sized up and place it in the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it in the versatile skillet for frying and sauteing", + "Take the soft rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the soft rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Move the soft rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Grab the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf medium-sized and place it into the versatile skillet for frying and sauteing.", + "Pick up the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Pick the bread loaf medium-sized up and place it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf medium-sized and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the small loaf-shaped bread to the pan-shaped skillet with hole in handle.", + "Move the small loaf-shaped bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the bread loaf medium-sized and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing", + "Pick the soft rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and set it in the pan-shaped skillet with hole in handle", + "Grab the soft rectangular bread loaf and place it in the dark skillet with shiny finish", + "Take the soft rectangular bread loaf and put it in the dark skillet with shiny finish", + "Use the left arm to move the bread loaf medium-sized to the versatile skillet for frying and sauteing.", + "Move the bread loaf medium-sized to the dark skillet with shiny finish using the left arm.", + "Grab the small loaf-shaped bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and place it into the pan-shaped skillet with hole in handle.", + "Pick up the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing", + "Pick the bread loaf medium-sized up and place it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Take the bread loaf medium-sized and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the small loaf-shaped bread to the pan-shaped skillet with hole in handle.", + "Move the small loaf-shaped bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the bread loaf medium-sized and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the bread loaf medium-sized and set it in the pan-shaped skillet with hole in handle", + "Grab the small loaf-shaped bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the soft rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Pick the small loaf-shaped bread up and place it in the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf medium-sized and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread loaf medium-sized to the pan-shaped skillet with hole in handle.", + "Move the soft rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Grab the bread loaf medium-sized and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Grab the soft rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Pick up the soft rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Pick the bread loaf medium-sized up and place it in the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and set it in the versatile skillet for frying and sauteing", + "Grab the soft rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Take the bread loaf medium-sized and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread loaf medium-sized to the dark skillet with shiny finish.", + "Move the small loaf-shaped bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the bread loaf medium-sized and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the small loaf-shaped bread and set it in the dark skillet with shiny finish", + "Grab the small loaf-shaped bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the small loaf-shaped bread and drop it into the dark skillet with shiny finish", + "Pick the bread loaf medium-sized up and place it in the dark skillet with shiny finish", + "Grab the bread loaf medium-sized and set it in the versatile skillet for frying and sauteing", + "Grab the small loaf-shaped bread and place it in the dark skillet with shiny finish", + "Take the bread loaf medium-sized and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the small loaf-shaped bread to the versatile skillet for frying and sauteing." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode4.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..2016ae59fc3be77be2bb831b3c1c50f849846a4d --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to stick the bread with split top into the skillet with wide round base.", + "Put the brown loaf into the skillet with wide round base after grabbing it", + "Place the light brown bread with ridges from the table into the black skillet with long handle", + "Take the light brown loaf with smooth sides and place it inside the black skillet", + "Move the soft brown bread into the black iron skillet for cooking from the table", + "Lift the small golden brown bread and drop it into the heavy cast iron skillet.", + "Use the right arm to pick the bread with golden-brown crust and put it in the medium skillet with rough outside", + "Transfer the soft brown bread into the skillet with sturdy material from the table", + "Use the right arm to grab the smooth loaf with rounded edges and set it in the skillet with sturdy material.", + "Grab the golden bread loaf and place it inside the black iron skillet for cooking.", + "Take the hand-sized oval loaf off the table into the black iron skillet for cooking", + "Grab the golden bread loaf from the table and set it in the flat-bottomed black cast iron skillet.", + "Grab the light brown bread with ridges with the right arm and place in the black iron skillet for cooking", + "Use the right arm to pick the golden bread loaf for the black iron skillet for cooking", + "Take the small loaf with curved top and place it inside the flat-bottomed black cast iron skillet", + "Use the right arm to set the small golden brown bread into the black skillet for frying foods.", + "Use the right arm to grab the hand-sized oval loaf for the black skillet for frying foods", + "Pick up the brown loaf with the right arm and drop it in the skillet with looped handle", + "Use the right arm to place the light brown bread with ridges into the skillet with wide round base", + "Pick up the smooth loaf with rounded edges and put it in the flat-bottomed black cast iron skillet", + "Grab the small loaf with curved top and drop it into the skillet with wide round base", + "Take the soft brown bread with the right arm and drop into the black cooking tool skillet", + "Use the right arm to move the light brown bread with ridges into the pan-shaped black skillet", + "Move the small golden brown bread to the black skillet using the right arm", + "Pick the bread with golden-brown crust and transfer it to the black skillet for frying foods", + "Take the golden bread loaf and set it into the black skillet for frying foods", + "Pick the small golden brown bread up using the right arm and drop it in the black cooking tool skillet.", + "Pick the small golden brown bread off the table and place it in the skillet with wide round base.", + "Grab the smooth loaf with rounded edges using the right arm and place it in the medium skillet with rough outside", + "Move the hand-sized oval loaf from table into the black cooking tool skillet", + "Use the right arm to grab the brown loaf for the black cooking tool skillet", + "Use the right arm to move the small loaf with curved top and set it into the medium skillet with rough outside.", + "Place the hand-sized oval loaf into the black cooking tool skillet with the right arm.", + "Use the right arm to pick the brown loaf and place it into the medium skillet with rough outside.", + "Take the soft brown bread and put it in the skillet with wide round base.", + "Pick the light brown loaf with smooth sides and set it into the black iron skillet for cooking.", + "Lift the bread with warm golden color using the right arm and move it to the heavy cast iron skillet", + "Use the right arm to pick the bread with warm golden color up for the skillet with wide round base", + "Set the small loaf with curved top into the heavy cast iron skillet after grabbing", + "Pick the bread with split top with the right arm and set it in the black cooking tool skillet", + "Grab the light brown loaf with smooth sides and place it inside the skillet with wide round base", + "Take the brown loaf and drop it into the skillet with looped handle.", + "Pick up the bread with golden-brown crust and place it in the flat-bottomed black cast iron skillet.", + "Lift the small golden brown bread and drop it into the black skillet with long handle", + "Put the smooth loaf with rounded edges into the skillet with wide round base.", + "Take the small loaf with curved top and put it in the pan-shaped black skillet.", + "Grab the brown loaf and stick it in the skillet with wide round base.", + "Use the right arm to take the light brown loaf with smooth sides and move it into the black skillet for frying foods.", + "Place the bread with warm golden color into the pan-shaped black skillet using the right arm", + "Use the right arm to lift the bread with golden-brown crust and place it into the black skillet for frying foods.", + "Use the right arm to stick the light brown loaf with smooth sides into the black iron skillet for cooking.", + "Put the bread with split top into the flat-bottomed black cast iron skillet after grabbing it", + "Place the small golden brown bread from the table into the pan-shaped black skillet", + "Take the bread with split top and place it inside the medium skillet with rough outside", + "Move the bread with warm golden color into the black skillet with long handle from the table", + "Lift the hand-sized oval loaf and drop it into the skillet with wide round base.", + "Use the right arm to pick the brown loaf and put it in the pan-shaped black skillet", + "Transfer the small loaf with curved top into the pan-shaped black skillet from the table", + "Use the right arm to grab the small golden brown bread and set it in the black skillet with long handle.", + "Grab the brown loaf and place it inside the flat-bottomed black cast iron skillet.", + "Take the bread with golden-brown crust off the table into the black skillet with long handle", + "Grab the hand-sized oval loaf from the table and set it in the pan-shaped black skillet.", + "Grab the small golden brown bread with the right arm and place in the skillet with looped handle", + "Use the right arm to pick the light brown loaf with smooth sides for the black cooking tool skillet", + "Take the small golden brown bread and place it inside the skillet with looped handle", + "Use the right arm to set the bread with warm golden color into the black iron skillet for cooking.", + "Use the right arm to grab the bread with split top for the medium skillet with rough outside", + "Pick up the small golden brown bread with the right arm and drop it in the black skillet with long handle", + "Use the right arm to place the small loaf with curved top into the black iron skillet for cooking", + "Pick up the bread with split top and put it in the black cooking tool skillet", + "Grab the light brown bread with ridges and drop it into the heavy cast iron skillet", + "Take the light brown loaf with smooth sides with the right arm and drop into the heavy cast iron skillet", + "Use the right arm to move the small loaf with curved top into the black skillet with long handle", + "Move the bread with split top to the black skillet for frying foods using the right arm", + "Pick the small golden brown bread and transfer it to the black cooking tool skillet", + "Take the small golden brown bread and set it into the flat-bottomed black cast iron skillet", + "Pick the golden bread loaf up using the right arm and drop it in the skillet with looped handle.", + "Pick the bread with split top off the table and place it in the skillet with looped handle.", + "Grab the small loaf with curved top using the right arm and place it in the pan-shaped black skillet", + "Move the brown loaf from table into the skillet with looped handle", + "Use the right arm to grab the bread with warm golden color for the skillet with sturdy material", + "Use the right arm to move the light brown loaf with smooth sides and set it into the skillet with wide round base.", + "Place the bread with split top into the skillet with looped handle with the right arm.", + "Use the right arm to pick the small golden brown bread and place it into the black skillet with long handle.", + "Take the bread with warm golden color and put it in the black skillet for frying foods.", + "Pick the bread with warm golden color and set it into the black skillet with long handle.", + "Lift the small loaf with curved top using the right arm and move it to the skillet with wide round base", + "Use the right arm to pick the bread with golden-brown crust up for the black skillet for frying foods", + "Set the light brown loaf with smooth sides into the black iron skillet for cooking after grabbing", + "Pick the smooth loaf with rounded edges with the right arm and set it in the black skillet with long handle", + "Grab the bread with warm golden color and place it inside the skillet with wide round base", + "Take the bread with split top and drop it into the skillet with sturdy material.", + "Pick up the light brown bread with ridges and place it in the black skillet.", + "Lift the light brown bread with ridges and drop it into the skillet with sturdy material", + "Put the bread with warm golden color into the heavy cast iron skillet.", + "Take the brown loaf and put it in the black iron skillet for cooking.", + "Grab the bread with golden-brown crust and stick it in the heavy cast iron skillet.", + "Use the right arm to take the hand-sized oval loaf and move it into the pan-shaped black skillet.", + "Place the bread with split top into the medium skillet with rough outside using the right arm", + "Use the right arm to lift the bread with split top and place it into the skillet with looped handle." + ], + "unseen": [ + "Take the oval-shaped soft bread and put it in the medium black frying skillet", + "Grab the rounded oval bread and place it into the round black skillet.", + "Grab the rounded oval bread and drop it into the medium black frying skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Pick up the oval-shaped soft bread and drop it into the smooth interior skillet", + "Move the rounded oval bread to the medium black frying skillet using the right arm.", + "Grab the oval bread and place it in the round black skillet", + "Use the right arm to move the oval-shaped soft bread to the round black skillet.", + "Pick the rounded oval bread up and place it in the round black skillet", + "Grab the rounded oval bread and set it in the smooth interior skillet", + "Take the rounded oval bread and put it in the medium black frying skillet", + "Grab the oval bread and place it into the smooth interior skillet.", + "Grab the oval-shaped soft bread and drop it into the medium black frying skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the round black skillet", + "Pick up the oval-shaped soft bread and drop it into the medium black frying skillet", + "Move the oval-shaped soft bread to the medium black frying skillet using the right arm.", + "Grab the oval-shaped soft bread and place it in the medium black frying skillet", + "Use the right arm to move the rounded oval bread to the medium black frying skillet.", + "Pick the rounded oval bread up and place it in the round black skillet", + "Grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Take the oval-shaped soft bread and put it in the medium black frying skillet", + "Grab the oval-shaped soft bread and place it into the medium black frying skillet.", + "Grab the oval-shaped soft bread and drop it into the round black skillet.", + "Use the right arm to grab the oval bread and set it in the medium black frying skillet", + "Pick up the rounded oval bread and drop it into the medium black frying skillet", + "Move the oval-shaped soft bread to the round black skillet using the right arm.", + "Grab the oval-shaped soft bread and place it in the smooth interior skillet", + "Use the right arm to move the oval-shaped soft bread to the smooth interior skillet.", + "Pick the rounded oval bread up and place it in the round black skillet", + "Grab the oval-shaped soft bread and set it in the round black skillet", + "Take the oval bread and put it in the medium black frying skillet", + "Grab the oval-shaped soft bread and place it into the medium black frying skillet.", + "Grab the oval bread and drop it into the round black skillet.", + "Use the right arm to grab the rounded oval bread and set it in the smooth interior skillet", + "Pick up the rounded oval bread and drop it into the round black skillet", + "Move the oval bread to the smooth interior skillet using the right arm.", + "Grab the oval-shaped soft bread and place it in the medium black frying skillet", + "Use the right arm to move the rounded oval bread to the medium black frying skillet.", + "Pick the oval-shaped soft bread up and place it in the medium black frying skillet", + "Grab the oval bread and set it in the round black skillet", + "Take the rounded oval bread and put it in the round black skillet", + "Grab the oval-shaped soft bread and place it into the smooth interior skillet.", + "Grab the rounded oval bread and drop it into the round black skillet.", + "Use the right arm to grab the rounded oval bread and set it in the medium black frying skillet", + "Pick up the oval bread and drop it into the smooth interior skillet", + "Move the oval-shaped soft bread to the smooth interior skillet using the right arm.", + "Grab the rounded oval bread and place it in the medium black frying skillet", + "Use the right arm to move the oval-shaped soft bread to the round black skillet.", + "Pick the oval-shaped soft bread up and place it in the round black skillet", + "Grab the rounded oval bread and set it in the medium black frying skillet", + "Take the rounded oval bread and put it in the medium black frying skillet", + "Grab the oval bread and place it into the medium black frying skillet.", + "Grab the oval-shaped soft bread and drop it into the medium black frying skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the smooth interior skillet", + "Pick up the oval-shaped soft bread and drop it into the round black skillet", + "Move the oval-shaped soft bread to the round black skillet using the right arm.", + "Grab the oval bread and place it in the medium black frying skillet", + "Use the right arm to move the rounded oval bread to the medium black frying skillet.", + "Pick the oval bread up and place it in the round black skillet", + "Grab the oval-shaped soft bread and set it in the smooth interior skillet", + "Take the oval bread and put it in the medium black frying skillet", + "Grab the oval-shaped soft bread and place it into the round black skillet.", + "Grab the rounded oval bread and drop it into the medium black frying skillet.", + "Use the right arm to grab the rounded oval bread and set it in the smooth interior skillet", + "Pick up the rounded oval bread and drop it into the smooth interior skillet", + "Move the oval bread to the round black skillet using the right arm.", + "Grab the rounded oval bread and place it in the round black skillet", + "Use the right arm to move the rounded oval bread to the medium black frying skillet.", + "Pick the rounded oval bread up and place it in the medium black frying skillet", + "Grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Take the oval-shaped soft bread and put it in the medium black frying skillet", + "Grab the oval bread and place it into the medium black frying skillet.", + "Grab the oval bread and drop it into the round black skillet.", + "Use the right arm to grab the rounded oval bread and set it in the round black skillet", + "Pick up the rounded oval bread and drop it into the medium black frying skillet", + "Move the oval bread to the smooth interior skillet using the right arm.", + "Grab the oval bread and place it in the medium black frying skillet", + "Use the right arm to move the oval-shaped soft bread to the medium black frying skillet.", + "Pick the oval-shaped soft bread up and place it in the round black skillet", + "Grab the oval bread and set it in the medium black frying skillet", + "Take the rounded oval bread and put it in the round black skillet", + "Grab the rounded oval bread and place it into the round black skillet.", + "Grab the rounded oval bread and drop it into the medium black frying skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the smooth interior skillet", + "Pick up the oval bread and drop it into the round black skillet", + "Move the oval-shaped soft bread to the medium black frying skillet using the right arm.", + "Grab the rounded oval bread and place it in the medium black frying skillet", + "Use the right arm to move the oval bread to the medium black frying skillet.", + "Pick the rounded oval bread up and place it in the round black skillet", + "Grab the oval bread and set it in the medium black frying skillet", + "Take the rounded oval bread and put it in the smooth interior skillet", + "Grab the oval-shaped soft bread and place it into the round black skillet.", + "Grab the rounded oval bread and drop it into the round black skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Pick up the oval-shaped soft bread and drop it into the medium black frying skillet", + "Move the oval-shaped soft bread to the medium black frying skillet using the right arm.", + "Grab the oval-shaped soft bread and place it in the medium black frying skillet", + "Use the right arm to move the rounded oval bread to the round black skillet.", + "Pick the oval bread up and place it in the round black skillet", + "Grab the oval-shaped soft bread and set it in the smooth interior skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode40.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..3ca82681d94ab300f2dd5bb4ec770c0d28a0a33d --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the bread with split top from the table into the smooth round cooking skillet", + "Pick up the smooth loaf with rounded edges and place it in the smooth round cooking skillet.", + "Set the light brown bread with ridges into the medium round cast iron skillet after grabbing", + "Lift the golden bread loaf and drop it into the round skillet with handle.", + "Put the light brown bread with ridges into the dark gray skillet.", + "Move the light brown loaf with smooth sides from table into the smooth cast iron skillet", + "Place the bread with split top into the smooth cast iron skillet using the right arm", + "Grab the bread with golden-brown crust using the right arm and place it in the gray cooking pan with handle", + "Take the bread with golden-brown crust and set it into the round skillet with handle", + "Take the small golden brown bread and place it inside the rounded skillet with a holey handle", + "Grab the hand-sized oval loaf and stick it in the hefty black skillet.", + "Pick the light brown bread with ridges and set it into the pan with dark finish.", + "Move the smooth loaf with rounded edges to the gray pan using the right arm", + "Use the right arm to grab the small golden brown bread for the medium round cast iron skillet", + "Take the hand-sized oval loaf off the table into the medium skillet", + "Put the bread with split top into the hefty black skillet after grabbing it", + "Use the right arm to pick the small golden brown bread up for the rounded skillet with a holey handle", + "Pick the bread with split top off the table and place it in the skillet for cooking.", + "Use the right arm to lift the smooth loaf with rounded edges and place it into the medium skillet.", + "Take the bread with warm golden color with the right arm and drop into the gray cooking pan with handle", + "Use the right arm to place the hand-sized oval loaf into the hefty black skillet", + "Use the right arm to move the bread with golden-brown crust into the medium round cast iron skillet", + "Use the right arm to pick the light brown loaf with smooth sides and put it in the medium round cast iron skillet", + "Pick the bread with warm golden color and transfer it to the pan with dark finish", + "Place the small golden brown bread into the pan with dark finish with the right arm.", + "Grab the golden bread loaf with the right arm and place in the round skillet with handle", + "Grab the small golden brown bread and place it inside the medium round cast iron skillet", + "Take the brown loaf and drop it into the skillet for cooking.", + "Transfer the brown loaf into the medium skillet from the table", + "Pick the small golden brown bread with the right arm and set it in the gray cooking pan with handle", + "Take the golden bread loaf and put it in the hefty black skillet.", + "Lift the bread with split top using the right arm and move it to the dark gray skillet", + "Take the soft brown bread and put it in the skillet for cooking.", + "Use the right arm to stick the bread with golden-brown crust into the gray pan.", + "Move the golden bread loaf into the rounded skillet with a holey handle from the table", + "Grab the bread with golden-brown crust from the table and set it in the rounded skillet with a holey handle.", + "Take the small loaf with curved top and place it inside the medium skillet", + "Grab the light brown bread with ridges and place it inside the skillet for cooking.", + "Use the right arm to pick the bread with split top for the dark gray skillet", + "Use the right arm to take the light brown bread with ridges and move it into the skillet for cooking.", + "Grab the light brown bread with ridges and drop it into the round skillet with handle", + "Use the right arm to set the small loaf with curved top into the rounded skillet with a holey handle.", + "Pick the bread with warm golden color up using the right arm and drop it in the pan with dark finish.", + "Lift the smooth loaf with rounded edges and drop it into the smooth cast iron skillet", + "Pick up the light brown loaf with smooth sides and put it in the smooth cast iron skillet", + "Use the right arm to grab the light brown bread with ridges for the dark gray skillet", + "Use the right arm to grab the bread with split top and set it in the smooth round cooking skillet.", + "Use the right arm to pick the bread with split top and place it into the medium round cast iron skillet.", + "Use the right arm to move the golden bread loaf and set it into the rounded skillet with a holey handle.", + "Pick up the brown loaf with the right arm and drop it in the gray pan", + "Place the light brown bread with ridges from the table into the hefty black skillet", + "Pick up the bread with warm golden color and place it in the gray cooking pan with handle.", + "Set the small loaf with curved top into the pan with dark finish after grabbing", + "Lift the soft brown bread and drop it into the gray cooking pan with handle.", + "Put the light brown loaf with smooth sides into the smooth round cooking skillet.", + "Move the small loaf with curved top from table into the medium skillet", + "Place the small loaf with curved top into the medium skillet using the right arm", + "Grab the brown loaf using the right arm and place it in the rounded skillet with a holey handle", + "Take the small loaf with curved top and set it into the gray cooking pan with handle", + "Take the smooth loaf with rounded edges and place it inside the round skillet with handle", + "Grab the smooth loaf with rounded edges and stick it in the smooth cast iron skillet.", + "Pick the soft brown bread and set it into the gray pan.", + "Move the smooth loaf with rounded edges to the pan with dark finish using the right arm", + "Use the right arm to grab the small golden brown bread for the smooth round cooking skillet", + "Take the bread with split top off the table into the pan with dark finish", + "Put the brown loaf into the pan with dark finish after grabbing it", + "Use the right arm to pick the soft brown bread up for the round skillet with handle", + "Pick the light brown bread with ridges off the table and place it in the rounded skillet with a holey handle.", + "Use the right arm to lift the bread with split top and place it into the medium skillet.", + "Take the bread with warm golden color with the right arm and drop into the gray cooking pan with handle", + "Use the right arm to place the golden bread loaf into the dark gray skillet", + "Use the right arm to move the smooth loaf with rounded edges into the gray cooking pan with handle", + "Use the right arm to pick the smooth loaf with rounded edges and put it in the rounded skillet with a holey handle", + "Pick the small golden brown bread and transfer it to the round skillet with handle", + "Place the small golden brown bread into the gray pan with the right arm.", + "Grab the small golden brown bread with the right arm and place in the smooth round cooking skillet", + "Grab the soft brown bread and place it inside the gray pan", + "Take the brown loaf and drop it into the skillet for cooking.", + "Transfer the hand-sized oval loaf into the pan with dark finish from the table", + "Pick the smooth loaf with rounded edges with the right arm and set it in the smooth round cooking skillet", + "Take the small loaf with curved top and put it in the skillet for cooking.", + "Lift the smooth loaf with rounded edges using the right arm and move it to the skillet for cooking", + "Take the bread with golden-brown crust and put it in the gray cooking pan with handle.", + "Use the right arm to stick the small loaf with curved top into the medium round cast iron skillet.", + "Move the brown loaf into the smooth cast iron skillet from the table", + "Grab the brown loaf from the table and set it in the medium round cast iron skillet.", + "Take the bread with golden-brown crust and place it inside the gray cooking pan with handle", + "Grab the bread with golden-brown crust and place it inside the hefty black skillet.", + "Use the right arm to pick the bread with warm golden color for the medium round cast iron skillet", + "Use the right arm to take the bread with split top and move it into the pan with dark finish.", + "Grab the bread with golden-brown crust and drop it into the gray pan", + "Use the right arm to set the bread with golden-brown crust into the skillet for cooking.", + "Pick the smooth loaf with rounded edges up using the right arm and drop it in the dark gray skillet.", + "Lift the bread with split top and drop it into the skillet for cooking", + "Pick up the hand-sized oval loaf and put it in the gray pan", + "Use the right arm to grab the golden bread loaf for the medium skillet", + "Use the right arm to grab the light brown bread with ridges and set it in the skillet for cooking.", + "Use the right arm to pick the small golden brown bread and place it into the hefty black skillet.", + "Use the right arm to move the small golden brown bread and set it into the hefty black skillet.", + "Pick up the light brown bread with ridges with the right arm and drop it in the smooth round cooking skillet" + ], + "unseen": [ + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and place it in the cooking skillet with grippy handle", + "Take the oval bread and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Use the right arm to move the oval bread to the blackish-gray cast iron skillet.", + "Grab the oval-shaped soft bread and set it in the dark gray round cast iron pan", + "Grab the rounded oval bread and drop it into the dark gray round cast iron pan.", + "Move the rounded oval bread to the blackish-gray cast iron skillet using the right arm.", + "Grab the rounded oval bread and place it into the dark gray round cast iron pan.", + "Pick up the rounded oval bread and drop it into the dark gray round cast iron pan", + "Pick the rounded oval bread up and place it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and place it in the cooking skillet with grippy handle", + "Take the oval-shaped soft bread and put it in the dark gray round cast iron pan", + "Use the right arm to grab the oval bread and set it in the blackish-gray cast iron skillet", + "Use the right arm to move the rounded oval bread to the cooking skillet with grippy handle.", + "Grab the oval-shaped soft bread and set it in the dark gray round cast iron pan", + "Grab the rounded oval bread and drop it into the cooking skillet with grippy handle.", + "Move the oval-shaped soft bread to the blackish-gray cast iron skillet using the right arm.", + "Grab the oval bread and place it into the dark gray round cast iron pan.", + "Pick up the rounded oval bread and drop it into the blackish-gray cast iron skillet", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Grab the oval bread and place it in the blackish-gray cast iron skillet", + "Take the oval bread and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Use the right arm to move the rounded oval bread to the blackish-gray cast iron skillet.", + "Grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Grab the oval bread and drop it into the cooking skillet with grippy handle.", + "Move the rounded oval bread to the blackish-gray cast iron skillet using the right arm.", + "Grab the oval-shaped soft bread and place it into the dark gray round cast iron pan.", + "Pick up the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet", + "Pick the rounded oval bread up and place it in the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and place it in the cooking skillet with grippy handle", + "Take the rounded oval bread and put it in the dark gray round cast iron pan", + "Use the right arm to grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Use the right arm to move the oval-shaped soft bread to the dark gray round cast iron pan.", + "Grab the oval bread and set it in the blackish-gray cast iron skillet", + "Grab the oval bread and drop it into the blackish-gray cast iron skillet.", + "Move the oval bread to the dark gray round cast iron pan using the right arm.", + "Grab the rounded oval bread and place it into the blackish-gray cast iron skillet.", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Pick the oval-shaped soft bread up and place it in the blackish-gray cast iron skillet", + "Grab the oval bread and place it in the blackish-gray cast iron skillet", + "Take the oval bread and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Use the right arm to move the rounded oval bread to the cooking skillet with grippy handle.", + "Grab the oval-shaped soft bread and set it in the dark gray round cast iron pan", + "Grab the rounded oval bread and drop it into the blackish-gray cast iron skillet.", + "Move the oval bread to the cooking skillet with grippy handle using the right arm.", + "Grab the rounded oval bread and place it into the blackish-gray cast iron skillet.", + "Pick up the rounded oval bread and drop it into the dark gray round cast iron pan", + "Pick the oval bread up and place it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it in the dark gray round cast iron pan", + "Take the oval-shaped soft bread and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Use the right arm to move the oval-shaped soft bread to the dark gray round cast iron pan.", + "Grab the oval bread and set it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and drop it into the cooking skillet with grippy handle.", + "Move the oval bread to the dark gray round cast iron pan using the right arm.", + "Grab the oval bread and place it into the dark gray round cast iron pan.", + "Pick up the oval-shaped soft bread and drop it into the cooking skillet with grippy handle", + "Pick the oval bread up and place it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and place it in the blackish-gray cast iron skillet", + "Take the oval bread and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Use the right arm to move the oval-shaped soft bread to the blackish-gray cast iron skillet.", + "Grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Grab the rounded oval bread and drop it into the dark gray round cast iron pan.", + "Move the oval bread to the blackish-gray cast iron skillet using the right arm.", + "Grab the oval bread and place it into the blackish-gray cast iron skillet.", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Pick the rounded oval bread up and place it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and place it in the dark gray round cast iron pan", + "Take the rounded oval bread and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the oval bread and set it in the blackish-gray cast iron skillet", + "Use the right arm to move the oval bread to the blackish-gray cast iron skillet.", + "Grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Grab the oval bread and drop it into the dark gray round cast iron pan.", + "Move the rounded oval bread to the cooking skillet with grippy handle using the right arm.", + "Grab the rounded oval bread and place it into the dark gray round cast iron pan.", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Pick the rounded oval bread up and place it in the dark gray round cast iron pan", + "Grab the rounded oval bread and place it in the dark gray round cast iron pan", + "Take the oval bread and put it in the blackish-gray cast iron skillet", + "Use the right arm to grab the oval bread and set it in the dark gray round cast iron pan", + "Use the right arm to move the oval bread to the blackish-gray cast iron skillet.", + "Grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and drop it into the blackish-gray cast iron skillet.", + "Move the oval bread to the cooking skillet with grippy handle using the right arm.", + "Grab the rounded oval bread and place it into the cooking skillet with grippy handle.", + "Pick up the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet", + "Pick the rounded oval bread up and place it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and place it in the blackish-gray cast iron skillet", + "Take the rounded oval bread and put it in the dark gray round cast iron pan", + "Use the right arm to grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Use the right arm to move the oval bread to the cooking skillet with grippy handle.", + "Grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Grab the oval bread and drop it into the dark gray round cast iron pan.", + "Move the oval bread to the cooking skillet with grippy handle using the right arm.", + "Grab the oval bread and place it into the cooking skillet with grippy handle.", + "Pick up the oval-shaped soft bread and drop it into the dark gray round cast iron pan" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode41.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..ce9f319af1063be653cde61d20aaf8d639d53a3a --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick the golden bread loaf and place it into the hefty black skillet.", + "Pick up the hand-sized oval loaf and place it in the hefty black skillet.", + "Take the small golden brown bread and place it inside the round skillet with handle", + "Take the small golden brown bread and put it in the dark gray skillet.", + "Use the left arm to set the bread with split top into the dark gray skillet.", + "Take the smooth loaf with rounded edges off the table into the skillet for cooking", + "Take the small golden brown bread and put it in the smooth cast iron skillet.", + "Lift the bread with split top and drop it into the smooth cast iron skillet.", + "Use the left arm to pick the bread with split top for the gray pan", + "Grab the bread with golden-brown crust and place it inside the pan with dark finish", + "Use the left arm to pick the light brown loaf with smooth sides and put it in the hefty black skillet", + "Use the left arm to grab the small loaf with curved top for the smooth cast iron skillet", + "Grab the bread with split top with the left arm and place in the rounded skillet with a holey handle", + "Set the small loaf with curved top into the medium skillet after grabbing", + "Lift the soft brown bread using the left arm and move it to the gray cooking pan with handle", + "Use the left arm to take the golden bread loaf and move it into the pan with dark finish.", + "Take the light brown bread with ridges with the left arm and drop into the dark gray skillet", + "Move the golden bread loaf to the gray cooking pan with handle using the left arm", + "Move the small golden brown bread into the dark gray skillet from the table", + "Grab the small loaf with curved top using the left arm and place it in the rounded skillet with a holey handle", + "Use the left arm to stick the small loaf with curved top into the medium round cast iron skillet.", + "Grab the bread with golden-brown crust from the table and set it in the medium round cast iron skillet.", + "Use the left arm to grab the bread with warm golden color for the gray cooking pan with handle", + "Use the left arm to pick the golden bread loaf up for the round skillet with handle", + "Place the smooth loaf with rounded edges into the medium skillet using the left arm", + "Pick the bread with golden-brown crust and set it into the gray pan.", + "Transfer the smooth loaf with rounded edges into the rounded skillet with a holey handle from the table", + "Pick the brown loaf off the table and place it in the gray cooking pan with handle.", + "Pick the bread with split top and transfer it to the gray cooking pan with handle", + "Put the small loaf with curved top into the smooth cast iron skillet after grabbing it", + "Take the brown loaf and set it into the medium round cast iron skillet", + "Pick up the light brown bread with ridges and put it in the medium skillet", + "Use the left arm to grab the bread with golden-brown crust and set it in the smooth round cooking skillet.", + "Use the left arm to place the light brown loaf with smooth sides into the hefty black skillet", + "Pick up the hand-sized oval loaf with the left arm and drop it in the smooth round cooking skillet", + "Use the left arm to move the bread with split top and set it into the round skillet with handle.", + "Take the smooth loaf with rounded edges and drop it into the round skillet with handle.", + "Grab the small loaf with curved top and stick it in the gray cooking pan with handle.", + "Grab the bread with warm golden color and drop it into the smooth cast iron skillet", + "Grab the small golden brown bread and place it inside the medium skillet.", + "Use the left arm to lift the small loaf with curved top and place it into the hefty black skillet.", + "Use the left arm to move the light brown bread with ridges into the round skillet with handle", + "Take the small loaf with curved top and place it inside the medium skillet", + "Put the light brown bread with ridges into the smooth round cooking skillet.", + "Move the bread with warm golden color from table into the skillet for cooking", + "Pick the brown loaf up using the left arm and drop it in the round skillet with handle.", + "Pick the small loaf with curved top with the left arm and set it in the smooth round cooking skillet", + "Lift the hand-sized oval loaf and drop it into the medium skillet", + "Place the brown loaf from the table into the round skillet with handle", + "Place the bread with split top into the medium round cast iron skillet with the left arm.", + "Use the left arm to pick the small loaf with curved top and place it into the smooth cast iron skillet.", + "Pick up the bread with warm golden color and place it in the hefty black skillet.", + "Take the light brown loaf with smooth sides and place it inside the hefty black skillet", + "Take the brown loaf and put it in the smooth round cooking skillet.", + "Use the left arm to set the small loaf with curved top into the gray cooking pan with handle.", + "Take the bread with golden-brown crust off the table into the skillet for cooking", + "Take the hand-sized oval loaf and put it in the medium round cast iron skillet.", + "Lift the soft brown bread and drop it into the smooth round cooking skillet.", + "Use the left arm to pick the bread with warm golden color for the dark gray skillet", + "Grab the bread with split top and place it inside the skillet for cooking", + "Use the left arm to pick the bread with golden-brown crust and put it in the medium skillet", + "Use the left arm to grab the bread with warm golden color for the hefty black skillet", + "Grab the bread with warm golden color with the left arm and place in the gray cooking pan with handle", + "Set the light brown loaf with smooth sides into the medium skillet after grabbing", + "Lift the smooth loaf with rounded edges using the left arm and move it to the smooth round cooking skillet", + "Use the left arm to take the bread with golden-brown crust and move it into the hefty black skillet.", + "Take the light brown loaf with smooth sides with the left arm and drop into the medium round cast iron skillet", + "Move the light brown loaf with smooth sides to the gray cooking pan with handle using the left arm", + "Move the smooth loaf with rounded edges into the hefty black skillet from the table", + "Grab the bread with golden-brown crust using the left arm and place it in the gray cooking pan with handle", + "Use the left arm to stick the light brown bread with ridges into the pan with dark finish.", + "Grab the hand-sized oval loaf from the table and set it in the pan with dark finish.", + "Use the left arm to grab the small loaf with curved top for the smooth round cooking skillet", + "Use the left arm to pick the brown loaf up for the medium round cast iron skillet", + "Place the smooth loaf with rounded edges into the medium skillet using the left arm", + "Pick the small loaf with curved top and set it into the pan with dark finish.", + "Transfer the light brown loaf with smooth sides into the rounded skillet with a holey handle from the table", + "Pick the hand-sized oval loaf off the table and place it in the smooth round cooking skillet.", + "Pick the smooth loaf with rounded edges and transfer it to the hefty black skillet", + "Put the small loaf with curved top into the gray pan after grabbing it", + "Take the brown loaf and set it into the pan with dark finish", + "Pick up the brown loaf and put it in the rounded skillet with a holey handle", + "Use the left arm to grab the hand-sized oval loaf and set it in the pan with dark finish.", + "Use the left arm to place the brown loaf into the skillet for cooking", + "Pick up the golden bread loaf with the left arm and drop it in the smooth round cooking skillet", + "Use the left arm to move the bread with split top and set it into the rounded skillet with a holey handle.", + "Take the hand-sized oval loaf and drop it into the hefty black skillet.", + "Grab the bread with golden-brown crust and stick it in the gray pan.", + "Grab the bread with golden-brown crust and drop it into the medium skillet", + "Grab the bread with warm golden color and place it inside the smooth cast iron skillet.", + "Use the left arm to lift the small golden brown bread and place it into the rounded skillet with a holey handle.", + "Use the left arm to move the small loaf with curved top into the round skillet with handle", + "Take the bread with split top and place it inside the skillet for cooking", + "Put the bread with split top into the pan with dark finish.", + "Move the light brown bread with ridges from table into the smooth round cooking skillet", + "Pick the smooth loaf with rounded edges up using the left arm and drop it in the skillet for cooking.", + "Pick the smooth loaf with rounded edges with the left arm and set it in the hefty black skillet", + "Lift the bread with warm golden color and drop it into the skillet for cooking", + "Place the small loaf with curved top from the table into the rounded skillet with a holey handle", + "Place the hand-sized oval loaf into the round skillet with handle with the left arm." + ], + "unseen": [ + "Take the rounded oval bread and put it in the blackish-gray cast iron skillet", + "Grab the oval bread and place it into the cooking skillet with grippy handle.", + "Use the left arm to grab the oval bread and set it in the blackish-gray cast iron skillet", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet.", + "Use the left arm to move the oval-shaped soft bread to the blackish-gray cast iron skillet.", + "Pick the oval-shaped soft bread up and place it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and place it in the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Move the rounded oval bread to the dark gray round cast iron pan using the left arm.", + "Take the rounded oval bread and put it in the cooking skillet with grippy handle", + "Grab the oval bread and place it into the dark gray round cast iron pan.", + "Use the left arm to grab the oval bread and set it in the cooking skillet with grippy handle", + "Pick up the rounded oval bread and drop it into the cooking skillet with grippy handle", + "Grab the oval bread and drop it into the cooking skillet with grippy handle.", + "Use the left arm to move the oval bread to the blackish-gray cast iron skillet.", + "Pick the oval bread up and place it in the dark gray round cast iron pan", + "Grab the oval bread and place it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Move the rounded oval bread to the dark gray round cast iron pan using the left arm.", + "Take the oval bread and put it in the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and place it into the cooking skillet with grippy handle.", + "Use the left arm to grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Grab the rounded oval bread and drop it into the blackish-gray cast iron skillet.", + "Use the left arm to move the oval-shaped soft bread to the cooking skillet with grippy handle.", + "Pick the oval-shaped soft bread up and place it in the blackish-gray cast iron skillet", + "Grab the oval bread and place it in the blackish-gray cast iron skillet", + "Grab the oval bread and set it in the cooking skillet with grippy handle", + "Move the oval bread to the dark gray round cast iron pan using the left arm.", + "Take the oval bread and put it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it into the cooking skillet with grippy handle.", + "Use the left arm to grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Pick up the rounded oval bread and drop it into the blackish-gray cast iron skillet", + "Grab the oval bread and drop it into the blackish-gray cast iron skillet.", + "Use the left arm to move the oval bread to the blackish-gray cast iron skillet.", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and place it in the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Move the oval-shaped soft bread to the blackish-gray cast iron skillet using the left arm.", + "Take the rounded oval bread and put it in the dark gray round cast iron pan", + "Grab the oval bread and place it into the dark gray round cast iron pan.", + "Use the left arm to grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Pick up the oval bread and drop it into the dark gray round cast iron pan", + "Grab the rounded oval bread and drop it into the cooking skillet with grippy handle.", + "Use the left arm to move the rounded oval bread to the blackish-gray cast iron skillet.", + "Pick the oval-shaped soft bread up and place it in the dark gray round cast iron pan", + "Grab the rounded oval bread and place it in the dark gray round cast iron pan", + "Grab the oval bread and set it in the cooking skillet with grippy handle", + "Move the oval-shaped soft bread to the dark gray round cast iron pan using the left arm.", + "Take the oval-shaped soft bread and put it in the blackish-gray cast iron skillet", + "Grab the oval bread and place it into the dark gray round cast iron pan.", + "Use the left arm to grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Pick up the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet", + "Grab the rounded oval bread and drop it into the blackish-gray cast iron skillet.", + "Use the left arm to move the oval bread to the cooking skillet with grippy handle.", + "Pick the oval-shaped soft bread up and place it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and place it in the dark gray round cast iron pan", + "Grab the oval bread and set it in the cooking skillet with grippy handle", + "Move the oval bread to the blackish-gray cast iron skillet using the left arm.", + "Take the oval-shaped soft bread and put it in the dark gray round cast iron pan", + "Grab the rounded oval bread and place it into the dark gray round cast iron pan.", + "Use the left arm to grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Pick up the rounded oval bread and drop it into the dark gray round cast iron pan", + "Grab the rounded oval bread and drop it into the blackish-gray cast iron skillet.", + "Use the left arm to move the oval-shaped soft bread to the blackish-gray cast iron skillet.", + "Pick the rounded oval bread up and place it in the dark gray round cast iron pan", + "Grab the oval bread and place it in the cooking skillet with grippy handle", + "Grab the oval bread and set it in the cooking skillet with grippy handle", + "Move the rounded oval bread to the dark gray round cast iron pan using the left arm.", + "Take the oval bread and put it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and place it into the blackish-gray cast iron skillet.", + "Use the left arm to grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Pick up the rounded oval bread and drop it into the dark gray round cast iron pan", + "Grab the rounded oval bread and drop it into the cooking skillet with grippy handle.", + "Use the left arm to move the oval-shaped soft bread to the cooking skillet with grippy handle.", + "Pick the rounded oval bread up and place it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it in the dark gray round cast iron pan", + "Grab the oval bread and set it in the cooking skillet with grippy handle", + "Move the oval-shaped soft bread to the blackish-gray cast iron skillet using the left arm.", + "Take the rounded oval bread and put it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it into the blackish-gray cast iron skillet.", + "Use the left arm to grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Pick up the oval-shaped soft bread and drop it into the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet.", + "Use the left arm to move the rounded oval bread to the dark gray round cast iron pan.", + "Pick the oval-shaped soft bread up and place it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Move the oval-shaped soft bread to the cooking skillet with grippy handle using the left arm.", + "Take the rounded oval bread and put it in the dark gray round cast iron pan", + "Grab the rounded oval bread and place it into the blackish-gray cast iron skillet.", + "Use the left arm to grab the oval-shaped soft bread and set it in the dark gray round cast iron pan", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Grab the rounded oval bread and drop it into the cooking skillet with grippy handle.", + "Use the left arm to move the oval-shaped soft bread to the blackish-gray cast iron skillet.", + "Pick the oval bread up and place it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and place it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Move the oval-shaped soft bread to the dark gray round cast iron pan using the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode42.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..45cf515396f9defc6d8a46dd36ca42a9de9314a1 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the golden bread loaf and put it in the versatile skillet for stovetop cooking.", + "Set the soft bread into the black skillet with smooth base after grabbing", + "Pick the cuboid bread up using the left arm and drop it in the dark pan with sturdy grip.", + "Put the bread loaf with uneven edges into the medium black pan with handle.", + "Use the left arm to take the bread block with light patches and move it into the solid dark-colored round pan.", + "Take the bread block with light patches and set it into the versatile skillet for stovetop cooking", + "Use the left arm to pick the bread block with light patches and put it in the solid dark-colored round pan", + "Lift the bread loaf with bumpy surface and drop it into the heavy black cooking skillet", + "Move the hand-sized bread block into the dark pan with sturdy grip from the table", + "Lift the doughy and soft bread and drop it into the versatile skillet for stovetop cooking.", + "Grab the bread loaf with bumpy surface and place it inside the dark pan with sturdy grip.", + "Take the bread loaf with bumpy surface off the table into the versatile skillet for stovetop cooking", + "Pick up the doughy and soft bread with the left arm and drop it in the smooth round pan made of iron", + "Grab the light golden brown bread and drop it into the round pan with hole in handle", + "Transfer the golden bread loaf into the round pan with hole in handle from the table", + "Place the cuboid bread from the table into the round pan with hole in handle", + "Use the left arm to pick the soft bread and place it into the solid dark-colored round pan.", + "Take the doughy and soft bread and drop it into the skillet with extended grip handle.", + "Grab the doughy and soft bread from the table and set it in the dark pan with sturdy grip.", + "Pick up the bread block with light patches and place it in the black pan with curved edges.", + "Use the left arm to pick the light golden brown bread for the dark pan with sturdy grip", + "Use the left arm to stick the doughy and soft bread into the skillet with extended grip handle.", + "Take the bread loaf with uneven edges and put it in the skillet with extended grip handle.", + "Take the golden bread with the left arm and drop into the flat-bottomed skillet with long handle", + "Grab the hand-sized bread block and place it inside the skillet with extended grip handle", + "Pick the square-shaped bread off the table and place it in the versatile skillet for stovetop cooking.", + "Pick the cuboid bread and set it into the medium black pan with handle.", + "Use the left arm to pick the bread block with light patches up for the medium black pan with handle", + "Move the light golden brown bread to the black pan with curved edges using the left arm", + "Use the left arm to grab the bread loaf with uneven edges and set it in the heavy black cooking skillet.", + "Use the left arm to lift the golden bread loaf and place it into the skillet with extended grip handle.", + "Use the left arm to move the golden bread and set it into the flat-bottomed skillet with long handle.", + "Pick up the bread with rough texture and put it in the versatile skillet for stovetop cooking", + "Move the bread loaf with uneven edges from table into the versatile skillet for stovetop cooking", + "Use the left arm to set the light golden brown bread into the black pan with curved edges.", + "Pick the light golden brown bread with the left arm and set it in the smooth round pan made of iron", + "Place the light golden brown bread into the round cooking pan with the left arm.", + "Use the left arm to grab the cuboid bread for the heavy black cooking skillet", + "Use the left arm to grab the golden bread for the black pan with curved edges", + "Place the cuboid bread into the round pan with hole in handle using the left arm", + "Grab the golden bread loaf using the left arm and place it in the skillet with extended grip handle", + "Put the bread loaf with uneven edges into the versatile skillet for stovetop cooking after grabbing it", + "Use the left arm to place the bread loaf with uneven edges into the black pan with curved edges", + "Take the square-shaped bread and place it inside the round pan with hole in handle", + "Take the soft bread and place it inside the versatile skillet for stovetop cooking", + "Pick the square-shaped bread and transfer it to the black skillet with smooth base", + "Grab the bread block with light patches and stick it in the round cooking pan.", + "Use the left arm to move the golden bread into the smooth round pan made of iron", + "Lift the golden bread using the left arm and move it to the versatile skillet for stovetop cooking", + "Grab the golden bread loaf with the left arm and place in the round cooking pan", + "Take the bread block with light patches and put it in the dark pan with sturdy grip.", + "Set the hand-sized bread block into the smooth round pan made of iron after grabbing", + "Pick the bread loaf with bumpy surface up using the left arm and drop it in the black pan with curved edges.", + "Put the bread with rough texture into the black skillet with smooth base.", + "Use the left arm to take the doughy and soft bread and move it into the round pan with hole in handle.", + "Take the square-shaped bread and set it into the flat-bottomed skillet with long handle", + "Use the left arm to pick the cuboid bread and put it in the black skillet with smooth base", + "Lift the bread with rough texture and drop it into the dark pan with sturdy grip", + "Move the doughy and soft bread into the skillet with extended grip handle from the table", + "Lift the light golden brown bread and drop it into the medium black pan with handle.", + "Grab the bread loaf with bumpy surface and place it inside the flat-bottomed skillet with long handle.", + "Take the bread loaf with uneven edges off the table into the flat-bottomed skillet with long handle", + "Pick up the golden bread with the left arm and drop it in the solid dark-colored round pan", + "Grab the hand-sized bread block and drop it into the skillet with extended grip handle", + "Transfer the bread block with light patches into the medium black pan with handle from the table", + "Place the bread loaf with uneven edges from the table into the round cooking pan", + "Use the left arm to pick the light golden brown bread and place it into the round cooking pan.", + "Take the golden bread loaf and drop it into the versatile skillet for stovetop cooking.", + "Grab the cuboid bread from the table and set it in the flat-bottomed skillet with long handle.", + "Pick up the golden bread loaf and place it in the skillet with extended grip handle.", + "Use the left arm to pick the bread loaf with bumpy surface for the flat-bottomed skillet with long handle", + "Use the left arm to stick the bread block with light patches into the versatile skillet for stovetop cooking.", + "Take the bread with rough texture and put it in the solid dark-colored round pan.", + "Take the soft bread with the left arm and drop into the round cooking pan", + "Grab the bread loaf with bumpy surface and place it inside the versatile skillet for stovetop cooking", + "Pick the bread loaf with bumpy surface off the table and place it in the round cooking pan.", + "Pick the bread loaf with uneven edges and set it into the black pan with curved edges.", + "Use the left arm to pick the bread loaf with uneven edges up for the black pan with curved edges", + "Move the square-shaped bread to the black pan with curved edges using the left arm", + "Use the left arm to grab the bread loaf with bumpy surface and set it in the heavy black cooking skillet.", + "Use the left arm to lift the soft bread and place it into the smooth round pan made of iron.", + "Use the left arm to move the golden bread and set it into the flat-bottomed skillet with long handle.", + "Pick up the golden bread loaf and put it in the dark pan with sturdy grip", + "Move the cuboid bread from table into the smooth round pan made of iron", + "Use the left arm to set the cuboid bread into the medium black pan with handle.", + "Pick the doughy and soft bread with the left arm and set it in the versatile skillet for stovetop cooking", + "Place the bread loaf with bumpy surface into the smooth round pan made of iron with the left arm.", + "Use the left arm to grab the bread loaf with uneven edges for the heavy black cooking skillet", + "Use the left arm to grab the bread with rough texture for the heavy black cooking skillet", + "Place the soft bread into the black pan with curved edges using the left arm", + "Grab the cuboid bread using the left arm and place it in the smooth round pan made of iron", + "Put the golden bread into the heavy black cooking skillet after grabbing it", + "Use the left arm to place the bread with rough texture into the heavy black cooking skillet", + "Take the hand-sized bread block and place it inside the round pan with hole in handle", + "Take the cuboid bread and place it inside the smooth round pan made of iron", + "Pick the bread with rough texture and transfer it to the round pan with hole in handle", + "Grab the golden bread and stick it in the black skillet with smooth base.", + "Use the left arm to move the light golden brown bread into the heavy black cooking skillet", + "Lift the cuboid bread using the left arm and move it to the medium black pan with handle", + "Grab the hand-sized bread block with the left arm and place in the black skillet with smooth base" + ], + "unseen": [ + "Pick the bread loaf with soft surface up and place it in the black skillet", + "Grab the rectangular bread loaf and drop it into the black skillet.", + "Take the rectangular bread loaf and put it in the round cast-iron skillet", + "Move the bread with golden crust to the black skillet using the left arm.", + "Grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Use the left arm to move the rectangular bread loaf to the black skillet.", + "Use the left arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Pick the bread with golden crust up and place it in the black skillet", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Take the rectangular bread loaf and put it in the iron skillet for frying foods", + "Move the bread with golden crust to the iron skillet for frying foods using the left arm.", + "Grab the bread loaf with soft surface and set it in the black skillet", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Use the left arm to move the bread with golden crust to the iron skillet for frying foods.", + "Use the left arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Pick the bread with golden crust up and place it in the black skillet", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Take the rectangular bread loaf and put it in the round cast-iron skillet", + "Move the bread with golden crust to the iron skillet for frying foods using the left arm.", + "Grab the bread with golden crust and set it in the black skillet", + "Grab the bread with golden crust and place it into the black skillet.", + "Use the left arm to move the bread with golden crust to the iron skillet for frying foods.", + "Use the left arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Take the rectangular bread loaf and put it in the black skillet", + "Move the rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Grab the bread loaf with soft surface and set it in the black skillet", + "Grab the bread with golden crust and place it into the round cast-iron skillet.", + "Use the left arm to move the bread loaf with soft surface to the iron skillet for frying foods.", + "Use the left arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it in the iron skillet for frying foods", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Pick the bread loaf with soft surface up and place it in the black skillet", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Take the bread loaf with soft surface and put it in the black skillet", + "Move the bread loaf with soft surface to the black skillet using the left arm.", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Use the left arm to move the bread with golden crust to the round cast-iron skillet.", + "Use the left arm to grab the rectangular bread loaf and set it in the black skillet", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Pick up the bread with golden crust and drop it into the black skillet", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and drop it into the round cast-iron skillet.", + "Take the rectangular bread loaf and put it in the round cast-iron skillet", + "Move the bread loaf with soft surface to the black skillet using the left arm.", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Use the left arm to move the bread with golden crust to the iron skillet for frying foods.", + "Use the left arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the bread with golden crust and place it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and drop it into the black skillet.", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Move the rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Grab the bread with golden crust and set it in the black skillet", + "Grab the bread with golden crust and place it into the round cast-iron skillet.", + "Use the left arm to move the bread loaf with soft surface to the iron skillet for frying foods.", + "Use the left arm to grab the bread loaf with soft surface and set it in the black skillet", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the round cast-iron skillet", + "Pick the bread with golden crust up and place it in the black skillet", + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Take the rectangular bread loaf and put it in the black skillet", + "Move the rectangular bread loaf to the black skillet using the left arm.", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Use the left arm to move the bread with golden crust to the black skillet.", + "Use the left arm to grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Pick the bread with golden crust up and place it in the black skillet", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Take the rectangular bread loaf and put it in the iron skillet for frying foods", + "Move the bread with golden crust to the round cast-iron skillet using the left arm.", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Use the left arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Use the left arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Pick the bread with golden crust up and place it in the round cast-iron skillet", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Take the rectangular bread loaf and put it in the black skillet", + "Move the rectangular bread loaf to the black skillet using the left arm.", + "Grab the bread with golden crust and set it in the black skillet", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Use the left arm to move the rectangular bread loaf to the black skillet.", + "Use the left arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it in the round cast-iron skillet", + "Pick up the bread loaf with soft surface and drop it into the round cast-iron skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode43.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..ed2c7b48c3047f44a8abca5129bcc783df6e9742 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick the cuboid bread for the black pan with curved edges", + "Transfer the cuboid bread into the dark pan with sturdy grip from the table", + "Grab the bread loaf with bumpy surface and drop it into the medium black pan with handle", + "Move the bread loaf with bumpy surface from table into the skillet with extended grip handle", + "Set the soft bread into the versatile skillet for stovetop cooking after grabbing", + "Use the left arm to move the golden bread into the flat-bottomed skillet with long handle", + "Pick up the bread block with light patches with the left arm and drop it in the versatile skillet for stovetop cooking", + "Use the left arm to stick the golden bread loaf into the dark pan with sturdy grip.", + "Put the cuboid bread into the black pan with curved edges after grabbing it", + "Put the cuboid bread into the round cooking pan.", + "Move the bread block with light patches to the black skillet with smooth base using the left arm", + "Grab the cuboid bread from the table and set it in the medium black pan with handle.", + "Pick the bread with rough texture up using the left arm and drop it in the versatile skillet for stovetop cooking.", + "Use the left arm to pick the golden bread up for the skillet with extended grip handle", + "Place the soft bread into the skillet with extended grip handle using the left arm", + "Take the bread block with light patches and drop it into the heavy black cooking skillet.", + "Take the bread block with light patches and put it in the heavy black cooking skillet.", + "Use the left arm to grab the hand-sized bread block for the black skillet with smooth base", + "Use the left arm to grab the hand-sized bread block for the versatile skillet for stovetop cooking", + "Grab the cuboid bread and place it inside the round cooking pan", + "Place the bread loaf with uneven edges into the versatile skillet for stovetop cooking with the left arm.", + "Take the bread loaf with bumpy surface and place it inside the flat-bottomed skillet with long handle", + "Use the left arm to lift the cuboid bread and place it into the smooth round pan made of iron.", + "Use the left arm to take the doughy and soft bread and move it into the flat-bottomed skillet with long handle.", + "Pick up the light golden brown bread and place it in the skillet with extended grip handle.", + "Take the golden bread and place it inside the versatile skillet for stovetop cooking", + "Lift the cuboid bread using the left arm and move it to the black skillet with smooth base", + "Pick the bread block with light patches off the table and place it in the dark pan with sturdy grip.", + "Take the light golden brown bread off the table into the skillet with extended grip handle", + "Lift the bread block with light patches and drop it into the black pan with curved edges", + "Use the left arm to set the bread loaf with bumpy surface into the flat-bottomed skillet with long handle.", + "Take the doughy and soft bread and set it into the dark pan with sturdy grip", + "Use the left arm to place the soft bread into the flat-bottomed skillet with long handle", + "Use the left arm to pick the soft bread and put it in the versatile skillet for stovetop cooking", + "Place the cuboid bread from the table into the round cooking pan", + "Lift the golden bread and drop it into the dark pan with sturdy grip.", + "Use the left arm to grab the light golden brown bread and set it in the smooth round pan made of iron.", + "Take the bread loaf with uneven edges with the left arm and drop into the round pan with hole in handle", + "Pick the bread with rough texture with the left arm and set it in the black pan with curved edges", + "Grab the doughy and soft bread and place it inside the solid dark-colored round pan.", + "Use the left arm to move the soft bread and set it into the black pan with curved edges.", + "Pick up the hand-sized bread block and put it in the flat-bottomed skillet with long handle", + "Take the golden bread loaf and put it in the flat-bottomed skillet with long handle.", + "Grab the light golden brown bread with the left arm and place in the skillet with extended grip handle", + "Pick the cuboid bread and set it into the versatile skillet for stovetop cooking.", + "Grab the golden bread and stick it in the dark pan with sturdy grip.", + "Use the left arm to pick the soft bread and place it into the versatile skillet for stovetop cooking.", + "Pick the light golden brown bread and transfer it to the flat-bottomed skillet with long handle", + "Move the doughy and soft bread into the medium black pan with handle from the table", + "Grab the soft bread using the left arm and place it in the flat-bottomed skillet with long handle", + "Use the left arm to pick the light golden brown bread for the round cooking pan", + "Transfer the hand-sized bread block into the round pan with hole in handle from the table", + "Grab the doughy and soft bread and drop it into the round pan with hole in handle", + "Move the bread loaf with bumpy surface from table into the solid dark-colored round pan", + "Set the bread loaf with uneven edges into the dark pan with sturdy grip after grabbing", + "Use the left arm to move the bread loaf with bumpy surface into the medium black pan with handle", + "Pick up the bread with rough texture with the left arm and drop it in the round pan with hole in handle", + "Use the left arm to stick the golden bread into the round pan with hole in handle.", + "Put the doughy and soft bread into the black pan with curved edges after grabbing it", + "Put the cuboid bread into the smooth round pan made of iron.", + "Move the light golden brown bread to the flat-bottomed skillet with long handle using the left arm", + "Grab the square-shaped bread from the table and set it in the smooth round pan made of iron.", + "Pick the bread loaf with uneven edges up using the left arm and drop it in the round pan with hole in handle.", + "Use the left arm to pick the bread block with light patches up for the solid dark-colored round pan", + "Place the golden bread loaf into the round pan with hole in handle using the left arm", + "Take the soft bread and drop it into the skillet with extended grip handle.", + "Take the bread loaf with bumpy surface and put it in the medium black pan with handle.", + "Use the left arm to grab the cuboid bread for the medium black pan with handle", + "Use the left arm to grab the bread block with light patches for the skillet with extended grip handle", + "Grab the bread with rough texture and place it inside the round pan with hole in handle", + "Place the golden bread into the skillet with extended grip handle with the left arm.", + "Take the bread loaf with bumpy surface and place it inside the round cooking pan", + "Use the left arm to lift the bread loaf with uneven edges and place it into the heavy black cooking skillet.", + "Use the left arm to take the bread block with light patches and move it into the solid dark-colored round pan.", + "Pick up the bread with rough texture and place it in the medium black pan with handle.", + "Take the golden bread loaf and place it inside the black pan with curved edges", + "Lift the bread loaf with bumpy surface using the left arm and move it to the versatile skillet for stovetop cooking", + "Pick the square-shaped bread off the table and place it in the black pan with curved edges.", + "Take the bread loaf with uneven edges off the table into the round cooking pan", + "Lift the bread loaf with bumpy surface and drop it into the black skillet with smooth base", + "Use the left arm to set the hand-sized bread block into the flat-bottomed skillet with long handle.", + "Take the bread with rough texture and set it into the round cooking pan", + "Use the left arm to place the golden bread loaf into the skillet with extended grip handle", + "Use the left arm to pick the golden bread and put it in the dark pan with sturdy grip", + "Place the bread with rough texture from the table into the round cooking pan", + "Lift the bread loaf with uneven edges and drop it into the black skillet with smooth base.", + "Use the left arm to grab the doughy and soft bread and set it in the smooth round pan made of iron.", + "Take the soft bread with the left arm and drop into the smooth round pan made of iron", + "Pick the bread with rough texture with the left arm and set it in the round cooking pan", + "Grab the light golden brown bread and place it inside the skillet with extended grip handle.", + "Use the left arm to move the bread with rough texture and set it into the flat-bottomed skillet with long handle.", + "Pick up the cuboid bread and put it in the solid dark-colored round pan", + "Take the doughy and soft bread and put it in the skillet with extended grip handle.", + "Grab the golden bread loaf with the left arm and place in the smooth round pan made of iron", + "Pick the bread block with light patches and set it into the skillet with extended grip handle.", + "Grab the bread with rough texture and stick it in the black skillet with smooth base.", + "Use the left arm to pick the bread loaf with bumpy surface and place it into the dark pan with sturdy grip.", + "Pick the light golden brown bread and transfer it to the heavy black cooking skillet", + "Move the golden bread loaf into the black pan with curved edges from the table", + "Grab the golden bread using the left arm and place it in the dark pan with sturdy grip" + ], + "unseen": [ + "Pick up the bread with golden crust and drop it into the round cast-iron skillet", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Grab the bread loaf with soft surface and drop it into the round cast-iron skillet.", + "Use the left arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Move the bread loaf with soft surface to the round cast-iron skillet using the left arm.", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Use the left arm to grab the bread with golden crust and set it in the black skillet", + "Take the bread with golden crust and put it in the black skillet", + "Pick up the bread with golden crust and drop it into the round cast-iron skillet", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Grab the bread with golden crust and drop it into the black skillet.", + "Use the left arm to move the bread with golden crust to the iron skillet for frying foods.", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Move the bread with golden crust to the round cast-iron skillet using the left arm.", + "Grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Use the left arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Take the bread loaf with soft surface and put it in the black skillet", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Pick the bread loaf with soft surface up and place it in the black skillet", + "Grab the bread with golden crust and place it into the round cast-iron skillet.", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Use the left arm to move the rectangular bread loaf to the round cast-iron skillet.", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Move the bread with golden crust to the black skillet using the left arm.", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Use the left arm to grab the bread loaf with soft surface and set it in the black skillet", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the round cast-iron skillet", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Grab the bread with golden crust and drop it into the black skillet.", + "Use the left arm to move the bread with golden crust to the black skillet.", + "Grab the rectangular bread loaf and place it in the black skillet", + "Move the bread loaf with soft surface to the black skillet using the left arm.", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Use the left arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Take the rectangular bread loaf and put it in the iron skillet for frying foods", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Pick the bread with golden crust up and place it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it into the black skillet.", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Use the left arm to move the bread loaf with soft surface to the iron skillet for frying foods.", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Move the bread with golden crust to the iron skillet for frying foods using the left arm.", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Use the left arm to grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Take the bread loaf with soft surface and put it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Grab the bread with golden crust and place it into the black skillet.", + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Use the left arm to move the bread loaf with soft surface to the black skillet.", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Move the rectangular bread loaf to the round cast-iron skillet using the left arm.", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Use the left arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Take the bread loaf with soft surface and put it in the black skillet", + "Pick up the bread with golden crust and drop it into the round cast-iron skillet", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it into the black skillet.", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Use the left arm to move the bread with golden crust to the iron skillet for frying foods.", + "Grab the rectangular bread loaf and place it in the round cast-iron skillet", + "Move the rectangular bread loaf to the round cast-iron skillet using the left arm.", + "Grab the bread loaf with soft surface and set it in the black skillet", + "Use the left arm to grab the bread with golden crust and set it in the black skillet", + "Take the bread loaf with soft surface and put it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it into the black skillet.", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Use the left arm to move the bread with golden crust to the black skillet.", + "Grab the bread loaf with soft surface and place it in the iron skillet for frying foods", + "Move the rectangular bread loaf to the round cast-iron skillet using the left arm.", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Use the left arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Take the bread with golden crust and put it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Use the left arm to move the bread with golden crust to the round cast-iron skillet.", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Move the rectangular bread loaf to the black skillet using the left arm.", + "Grab the bread with golden crust and set it in the black skillet", + "Use the left arm to grab the bread loaf with soft surface and set it in the black skillet", + "Take the bread with golden crust and put it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Pick the bread with golden crust up and place it in the black skillet", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Use the left arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Move the bread with golden crust to the black skillet using the left arm.", + "Grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Use the left arm to grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Take the bread with golden crust and put it in the iron skillet for frying foods" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode44.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..e8328d8542666394ac0c29c698a46d5316972893 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to move the bread with warm golden color into the skillet for frying food", + "Use the right arm to stick the golden bread loaf into the gray skillet for stovetop cooking.", + "Use the right arm to take the brown loaf and move it into the round skillet with open handle end.", + "Grab the bread with warm golden color using the right arm and place it in the black-surfaced skillet with gray sides", + "Use the right arm to pick the small loaf with curved top up for the smooth non-stick skillet", + "Put the bread with warm golden color into the dark gray skillet after grabbing it", + "Grab the small golden brown bread and stick it in the metal skillet with comfortable grip.", + "Use the right arm to pick the bread with warm golden color and place it into the flat-bottom skillet.", + "Use the right arm to move the golden bread loaf and set it into the metal skillet.", + "Take the soft brown bread and place it inside the dark gray skillet", + "Pick up the smooth loaf with rounded edges and place it in the medium-sized frying skillet.", + "Use the right arm to pick the small loaf with curved top for the metal skillet with comfortable grip", + "Place the bread with golden-brown crust into the skillet with black cooking surface using the right arm", + "Pick the bread with warm golden color and set it into the metal skillet.", + "Grab the smooth loaf with rounded edges from the table and set it in the smooth non-stick skillet.", + "Take the light brown loaf with smooth sides and put it in the gray skillet for stovetop cooking.", + "Pick up the brown loaf with the right arm and drop it in the skillet with black cooking surface", + "Take the bread with split top and set it into the skillet with black cooking surface", + "Grab the bread with warm golden color and drop it into the metal skillet", + "Grab the bread with warm golden color and place it inside the medium-sized frying skillet.", + "Place the light brown bread with ridges from the table into the round skillet with handle", + "Lift the small loaf with curved top and drop it into the metal skillet with comfortable grip.", + "Use the right arm to grab the light brown loaf with smooth sides for the flat-bottom skillet", + "Use the right arm to place the bread with split top into the dark gray skillet", + "Move the bread with golden-brown crust to the flat-bottom skillet using the right arm", + "Grab the hand-sized oval loaf and place it inside the gray skillet for stovetop cooking", + "Move the soft brown bread from table into the round skillet with open handle end", + "Pick the hand-sized oval loaf up using the right arm and drop it in the gray skillet for stovetop cooking.", + "Lift the small loaf with curved top and drop it into the skillet for frying food", + "Grab the bread with golden-brown crust with the right arm and place in the round skillet with handle", + "Take the golden bread loaf off the table into the medium-sized frying skillet", + "Pick up the bread with golden-brown crust and put it in the medium-sized frying skillet", + "Take the light brown bread with ridges and place it inside the flat-bottom skillet", + "Use the right arm to grab the small golden brown bread for the round skillet with handle", + "Use the right arm to pick the bread with split top and put it in the skillet with black cooking surface", + "Put the light brown bread with ridges into the medium-sized frying skillet.", + "Use the right arm to set the small loaf with curved top into the dark gray skillet.", + "Take the soft brown bread and put it in the black-surfaced skillet with gray sides.", + "Take the bread with warm golden color and drop it into the round skillet with open handle end.", + "Take the light brown loaf with smooth sides with the right arm and drop into the skillet for frying food", + "Place the hand-sized oval loaf into the metal skillet with comfortable grip with the right arm.", + "Pick the bread with warm golden color off the table and place it in the medium-sized frying skillet.", + "Move the hand-sized oval loaf into the skillet for frying food from the table", + "Set the light brown bread with ridges into the metal skillet after grabbing", + "Transfer the bread with split top into the skillet with black cooking surface from the table", + "Use the right arm to grab the brown loaf and set it in the flat-bottom skillet.", + "Pick the soft brown bread with the right arm and set it in the metal skillet with comfortable grip", + "Lift the light brown bread with ridges using the right arm and move it to the round skillet with handle", + "Use the right arm to lift the golden bread loaf and place it into the round skillet with handle.", + "Pick the brown loaf and transfer it to the skillet for frying food", + "Use the right arm to move the light brown bread with ridges into the metal skillet with comfortable grip", + "Use the right arm to stick the light brown bread with ridges into the dark gray skillet.", + "Use the right arm to take the small golden brown bread and move it into the medium-sized frying skillet.", + "Grab the light brown loaf with smooth sides using the right arm and place it in the skillet for frying food", + "Use the right arm to pick the bread with warm golden color up for the metal skillet with comfortable grip", + "Put the bread with warm golden color into the metal skillet after grabbing it", + "Grab the bread with warm golden color and stick it in the gray skillet for stovetop cooking.", + "Use the right arm to pick the light brown bread with ridges and place it into the skillet for frying food.", + "Use the right arm to move the golden bread loaf and set it into the medium-sized frying skillet.", + "Take the small golden brown bread and place it inside the skillet with black cooking surface", + "Pick up the bread with golden-brown crust and place it in the metal skillet with comfortable grip.", + "Use the right arm to pick the small loaf with curved top for the medium-sized frying skillet", + "Place the light brown loaf with smooth sides into the dark gray skillet using the right arm", + "Pick the light brown bread with ridges and set it into the skillet for frying food.", + "Grab the bread with split top from the table and set it in the black-surfaced skillet with gray sides.", + "Take the bread with split top and put it in the round skillet with handle.", + "Pick up the brown loaf with the right arm and drop it in the dark gray skillet", + "Take the smooth loaf with rounded edges and set it into the round skillet with open handle end", + "Grab the soft brown bread and drop it into the metal skillet with comfortable grip", + "Grab the bread with split top and place it inside the gray skillet for stovetop cooking.", + "Place the bread with split top from the table into the smooth non-stick skillet", + "Lift the hand-sized oval loaf and drop it into the round skillet with handle.", + "Use the right arm to grab the hand-sized oval loaf for the medium-sized frying skillet", + "Use the right arm to place the bread with warm golden color into the gray skillet for stovetop cooking", + "Move the soft brown bread to the round skillet with open handle end using the right arm", + "Grab the bread with golden-brown crust and place it inside the round skillet with handle", + "Move the bread with warm golden color from table into the metal skillet with comfortable grip", + "Pick the bread with golden-brown crust up using the right arm and drop it in the flat-bottom skillet.", + "Lift the bread with golden-brown crust and drop it into the skillet for frying food", + "Grab the bread with golden-brown crust with the right arm and place in the metal skillet with comfortable grip", + "Take the bread with split top off the table into the round skillet with open handle end", + "Pick up the bread with split top and put it in the metal skillet with comfortable grip", + "Take the brown loaf and place it inside the black-surfaced skillet with gray sides", + "Use the right arm to grab the hand-sized oval loaf for the skillet with black cooking surface", + "Use the right arm to pick the light brown bread with ridges and put it in the skillet for frying food", + "Put the golden bread loaf into the skillet with black cooking surface.", + "Use the right arm to set the smooth loaf with rounded edges into the round skillet with open handle end.", + "Take the bread with warm golden color and put it in the smooth non-stick skillet.", + "Take the soft brown bread and drop it into the metal skillet with comfortable grip.", + "Take the small loaf with curved top with the right arm and drop into the medium-sized frying skillet", + "Place the golden bread loaf into the flat-bottom skillet with the right arm.", + "Pick the golden bread loaf off the table and place it in the black-surfaced skillet with gray sides.", + "Move the golden bread loaf into the dark gray skillet from the table", + "Set the golden bread loaf into the gray skillet for stovetop cooking after grabbing", + "Transfer the small golden brown bread into the medium-sized frying skillet from the table", + "Use the right arm to grab the bread with golden-brown crust and set it in the skillet for frying food.", + "Pick the smooth loaf with rounded edges with the right arm and set it in the round skillet with handle", + "Lift the light brown bread with ridges using the right arm and move it to the metal skillet with comfortable grip", + "Use the right arm to lift the golden bread loaf and place it into the black-surfaced skillet with gray sides.", + "Pick the bread with split top and transfer it to the smooth non-stick skillet" + ], + "unseen": [ + "Grab the oval bread and set it in the dark skillet with shiny finish", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Move the oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Use the right arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Take the oval bread and put it in the dark skillet with shiny finish", + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and set it in the dark skillet with shiny finish", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Take the oval bread and put it in the dark skillet with shiny finish", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Use the right arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Move the oval bread to the dark skillet with shiny finish using the right arm.", + "Use the right arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and set it in the dark skillet with shiny finish", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the right arm.", + "Use the right arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Pick up the rounded oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the right arm.", + "Use the right arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the right arm.", + "Use the right arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and set it in the dark skillet with shiny finish", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the right arm.", + "Use the right arm to move the oval bread to the dark skillet with shiny finish.", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode45.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..472010aa86346ed39f6def4f483a9111a512f04e --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the soft doughy bread and drop it into the skillet for cooking.", + "Use the left arm to grab the golden brown bread for the skillet for cooking", + "Use the left arm to take the braided bread loaf and move it into the rounded skillet with a holey handle.", + "Use the left arm to pick the golden brown bread with braided design up for the dark gray skillet", + "Use the left arm to lift the small bread and place it into the gray pan.", + "Move the round bread with braided top to the medium skillet using the left arm", + "Pick the small bread off the table and place it in the rounded skillet with a holey handle.", + "Place the golden bread loaf with soft inside into the gray pan with the left arm.", + "Take the soft doughy bread and place it inside the medium round cast iron skillet", + "Pick the small golden baked bread with the left arm and set it in the rounded skillet with a holey handle", + "Take the round bread with crusty texture and put it in the dark gray skillet.", + "Use the left arm to grab the golden bread loaf with soft inside for the hefty black skillet", + "Lift the soft golden bread using the left arm and move it to the pan with dark finish", + "Transfer the small bread into the gray pan from the table", + "Grab the golden brown bread with braided design and place it inside the hefty black skillet.", + "Move the smooth crusty small bread from table into the smooth cast iron skillet", + "Grab the golden brown bread and drop it into the smooth cast iron skillet", + "Take the round bread with crusty texture and place it inside the rounded skillet with a holey handle", + "Take the small golden baked bread and put it in the smooth round cooking skillet.", + "Take the soft doughy bread and set it into the round skillet with handle", + "Grab the smooth crusty small bread and stick it in the medium skillet.", + "Grab the soft golden bread from the table and set it in the hefty black skillet.", + "Take the golden bread loaf with soft inside and drop it into the pan with dark finish.", + "Take the small golden baked bread with the left arm and drop into the hefty black skillet", + "Pick up the golden bread loaf with soft inside and put it in the round skillet with handle", + "Set the golden brown bread with braided design into the dark gray skillet after grabbing", + "Use the left arm to move the soft doughy bread and set it into the medium skillet.", + "Take the golden brown bread with braided design off the table into the gray cooking pan with handle", + "Use the left arm to stick the golden bread loaf with soft inside into the round skillet with handle.", + "Pick the round bread with braided top up using the left arm and drop it in the gray pan.", + "Use the left arm to pick the golden bread loaf with soft inside and put it in the dark gray skillet", + "Pick up the soft doughy bread with the left arm and drop it in the dark gray skillet", + "Grab the round bread with braided top with the left arm and place in the hefty black skillet", + "Grab the braided bread loaf using the left arm and place it in the dark gray skillet", + "Grab the soft golden bread and place it inside the gray cooking pan with handle", + "Pick the smooth crusty small bread and set it into the smooth cast iron skillet.", + "Use the left arm to grab the round bread with braided top and set it in the medium round cast iron skillet.", + "Move the round bread with crusty texture into the skillet for cooking from the table", + "Put the small bread into the dark gray skillet after grabbing it", + "Use the left arm to move the small bread into the round skillet with handle", + "Pick up the soft doughy bread and place it in the hefty black skillet.", + "Place the golden brown bread from the table into the smooth round cooking skillet", + "Put the braided bread loaf into the hefty black skillet.", + "Use the left arm to set the soft doughy bread into the medium skillet.", + "Use the left arm to pick the round bread with crusty texture and place it into the dark gray skillet.", + "Place the golden brown bread into the gray pan using the left arm", + "Use the left arm to pick the round bread with crusty texture for the round skillet with handle", + "Lift the smooth crusty small bread and drop it into the pan with dark finish", + "Pick the smooth crusty small bread and transfer it to the skillet for cooking", + "Use the left arm to place the small bread into the skillet for cooking", + "Lift the soft golden bread and drop it into the gray cooking pan with handle.", + "Use the left arm to grab the round bread with braided top for the gray pan", + "Use the left arm to take the golden brown bread and move it into the skillet for cooking.", + "Use the left arm to pick the golden brown bread up for the pan with dark finish", + "Use the left arm to lift the smooth crusty small bread and place it into the round skillet with handle.", + "Move the small bread to the medium skillet using the left arm", + "Pick the braided bread loaf off the table and place it in the gray cooking pan with handle.", + "Place the soft golden bread into the gray pan with the left arm.", + "Take the soft doughy bread and place it inside the pan with dark finish", + "Pick the small bread with the left arm and set it in the medium skillet", + "Take the braided bread loaf and put it in the hefty black skillet.", + "Use the left arm to grab the soft golden bread for the gray cooking pan with handle", + "Lift the round bread with crusty texture using the left arm and move it to the rounded skillet with a holey handle", + "Transfer the bread with golden crust into the medium skillet from the table", + "Grab the golden brown bread with braided design and place it inside the smooth cast iron skillet.", + "Move the golden bread loaf with soft inside from table into the gray pan", + "Grab the soft doughy bread and drop it into the medium skillet", + "Take the bread with golden crust and place it inside the gray pan", + "Take the golden brown bread with braided design and put it in the pan with dark finish.", + "Take the small bread and set it into the medium round cast iron skillet", + "Grab the round bread with crusty texture and stick it in the dark gray skillet.", + "Grab the round bread with braided top from the table and set it in the medium skillet.", + "Take the smooth crusty small bread and drop it into the smooth cast iron skillet.", + "Take the golden brown bread with the left arm and drop into the medium round cast iron skillet", + "Pick up the golden brown bread with braided design and put it in the smooth round cooking skillet", + "Set the golden bread loaf with soft inside into the pan with dark finish after grabbing", + "Use the left arm to move the golden brown bread and set it into the round skillet with handle.", + "Take the soft doughy bread off the table into the dark gray skillet", + "Use the left arm to stick the braided bread loaf into the gray cooking pan with handle.", + "Pick the golden brown bread with braided design up using the left arm and drop it in the dark gray skillet.", + "Use the left arm to pick the small bread and put it in the rounded skillet with a holey handle", + "Pick up the golden brown bread with the left arm and drop it in the skillet for cooking", + "Grab the small golden baked bread with the left arm and place in the hefty black skillet", + "Grab the round bread with braided top using the left arm and place it in the dark gray skillet", + "Grab the soft golden bread and place it inside the round skillet with handle", + "Pick the small golden baked bread and set it into the round skillet with handle.", + "Use the left arm to grab the round bread with braided top and set it in the rounded skillet with a holey handle.", + "Move the braided bread loaf into the hefty black skillet from the table", + "Put the braided bread loaf into the gray pan after grabbing it", + "Use the left arm to move the round bread with braided top into the dark gray skillet", + "Pick up the golden brown bread and place it in the medium skillet.", + "Place the soft doughy bread from the table into the gray cooking pan with handle", + "Put the golden brown bread into the smooth round cooking skillet.", + "Use the left arm to set the soft doughy bread into the skillet for cooking.", + "Use the left arm to pick the soft golden bread and place it into the round skillet with handle.", + "Place the golden bread loaf with soft inside into the smooth cast iron skillet using the left arm", + "Use the left arm to pick the round bread with crusty texture for the pan with dark finish", + "Lift the golden brown bread with braided design and drop it into the gray cooking pan with handle", + "Pick the soft golden bread and transfer it to the pan with dark finish", + "Use the left arm to place the small golden baked bread into the medium skillet" + ], + "unseen": [ + "Pick up the palm-sized braided golden bread and drop it into the blackish-gray cast iron skillet", + "Move the braided top round bread to the cooking skillet with grippy handle using the left arm.", + "Grab the round braided loaf and place it in the cooking skillet with grippy handle", + "Take the round braided loaf and put it in the cooking skillet with grippy handle", + "Pick the palm-sized braided golden bread up and place it in the cooking skillet with grippy handle", + "Grab the round braided loaf and drop it into the blackish-gray cast iron skillet.", + "Use the left arm to grab the palm-sized braided golden bread and set it in the blackish-gray cast iron skillet", + "Use the left arm to move the round braided loaf to the dark gray round cast iron pan.", + "Grab the round braided loaf and place it into the dark gray round cast iron pan.", + "Grab the braided top round bread and set it in the blackish-gray cast iron skillet", + "Pick up the round braided loaf and drop it into the dark gray round cast iron pan", + "Move the braided top round bread to the blackish-gray cast iron skillet using the left arm.", + "Grab the braided top round bread and place it in the blackish-gray cast iron skillet", + "Take the round braided loaf and put it in the blackish-gray cast iron skillet", + "Pick the palm-sized braided golden bread up and place it in the blackish-gray cast iron skillet", + "Grab the palm-sized braided golden bread and drop it into the dark gray round cast iron pan.", + "Use the left arm to grab the round braided loaf and set it in the blackish-gray cast iron skillet", + "Use the left arm to move the braided top round bread to the blackish-gray cast iron skillet.", + "Grab the braided top round bread and place it into the cooking skillet with grippy handle.", + "Grab the braided top round bread and set it in the blackish-gray cast iron skillet", + "Pick up the palm-sized braided golden bread and drop it into the cooking skillet with grippy handle", + "Move the palm-sized braided golden bread to the cooking skillet with grippy handle using the left arm.", + "Grab the braided top round bread and place it in the cooking skillet with grippy handle", + "Take the round braided loaf and put it in the blackish-gray cast iron skillet", + "Pick the palm-sized braided golden bread up and place it in the blackish-gray cast iron skillet", + "Grab the palm-sized braided golden bread and drop it into the blackish-gray cast iron skillet.", + "Use the left arm to grab the braided top round bread and set it in the dark gray round cast iron pan", + "Use the left arm to move the round braided loaf to the dark gray round cast iron pan.", + "Grab the palm-sized braided golden bread and place it into the cooking skillet with grippy handle.", + "Grab the braided top round bread and set it in the dark gray round cast iron pan", + "Pick up the palm-sized braided golden bread and drop it into the cooking skillet with grippy handle", + "Move the palm-sized braided golden bread to the dark gray round cast iron pan using the left arm.", + "Grab the braided top round bread and place it in the dark gray round cast iron pan", + "Take the braided top round bread and put it in the blackish-gray cast iron skillet", + "Pick the braided top round bread up and place it in the cooking skillet with grippy handle", + "Grab the braided top round bread and drop it into the cooking skillet with grippy handle.", + "Use the left arm to grab the palm-sized braided golden bread and set it in the cooking skillet with grippy handle", + "Use the left arm to move the round braided loaf to the blackish-gray cast iron skillet.", + "Grab the palm-sized braided golden bread and place it into the dark gray round cast iron pan.", + "Grab the braided top round bread and set it in the dark gray round cast iron pan", + "Pick up the round braided loaf and drop it into the dark gray round cast iron pan", + "Move the braided top round bread to the cooking skillet with grippy handle using the left arm.", + "Grab the braided top round bread and place it in the dark gray round cast iron pan", + "Take the palm-sized braided golden bread and put it in the dark gray round cast iron pan", + "Pick the braided top round bread up and place it in the cooking skillet with grippy handle", + "Grab the braided top round bread and drop it into the blackish-gray cast iron skillet.", + "Use the left arm to grab the round braided loaf and set it in the dark gray round cast iron pan", + "Use the left arm to move the palm-sized braided golden bread to the cooking skillet with grippy handle.", + "Grab the palm-sized braided golden bread and place it into the blackish-gray cast iron skillet.", + "Grab the round braided loaf and set it in the dark gray round cast iron pan", + "Pick up the round braided loaf and drop it into the blackish-gray cast iron skillet", + "Move the palm-sized braided golden bread to the dark gray round cast iron pan using the left arm.", + "Grab the round braided loaf and place it in the cooking skillet with grippy handle", + "Take the round braided loaf and put it in the dark gray round cast iron pan", + "Pick the round braided loaf up and place it in the dark gray round cast iron pan", + "Grab the round braided loaf and drop it into the dark gray round cast iron pan.", + "Use the left arm to grab the palm-sized braided golden bread and set it in the cooking skillet with grippy handle", + "Use the left arm to move the round braided loaf to the dark gray round cast iron pan.", + "Grab the palm-sized braided golden bread and place it into the blackish-gray cast iron skillet.", + "Grab the braided top round bread and set it in the cooking skillet with grippy handle", + "Pick up the round braided loaf and drop it into the blackish-gray cast iron skillet", + "Move the palm-sized braided golden bread to the dark gray round cast iron pan using the left arm.", + "Grab the braided top round bread and place it in the cooking skillet with grippy handle", + "Take the palm-sized braided golden bread and put it in the blackish-gray cast iron skillet", + "Pick the braided top round bread up and place it in the blackish-gray cast iron skillet", + "Grab the palm-sized braided golden bread and drop it into the blackish-gray cast iron skillet.", + "Use the left arm to grab the braided top round bread and set it in the blackish-gray cast iron skillet", + "Use the left arm to move the round braided loaf to the cooking skillet with grippy handle.", + "Grab the round braided loaf and place it into the blackish-gray cast iron skillet.", + "Grab the braided top round bread and set it in the blackish-gray cast iron skillet", + "Pick up the round braided loaf and drop it into the cooking skillet with grippy handle", + "Move the round braided loaf to the dark gray round cast iron pan using the left arm.", + "Grab the palm-sized braided golden bread and place it in the cooking skillet with grippy handle", + "Take the round braided loaf and put it in the dark gray round cast iron pan", + "Pick the round braided loaf up and place it in the dark gray round cast iron pan", + "Grab the round braided loaf and drop it into the dark gray round cast iron pan.", + "Use the left arm to grab the braided top round bread and set it in the cooking skillet with grippy handle", + "Use the left arm to move the palm-sized braided golden bread to the cooking skillet with grippy handle.", + "Grab the palm-sized braided golden bread and place it into the blackish-gray cast iron skillet.", + "Grab the braided top round bread and set it in the cooking skillet with grippy handle", + "Pick up the braided top round bread and drop it into the cooking skillet with grippy handle", + "Move the palm-sized braided golden bread to the cooking skillet with grippy handle using the left arm.", + "Grab the braided top round bread and place it in the dark gray round cast iron pan", + "Take the palm-sized braided golden bread and put it in the blackish-gray cast iron skillet", + "Pick the round braided loaf up and place it in the dark gray round cast iron pan", + "Grab the braided top round bread and drop it into the blackish-gray cast iron skillet.", + "Use the left arm to grab the palm-sized braided golden bread and set it in the dark gray round cast iron pan", + "Use the left arm to move the braided top round bread to the blackish-gray cast iron skillet.", + "Grab the braided top round bread and place it into the cooking skillet with grippy handle.", + "Grab the round braided loaf and set it in the dark gray round cast iron pan", + "Pick up the palm-sized braided golden bread and drop it into the dark gray round cast iron pan", + "Move the round braided loaf to the cooking skillet with grippy handle using the left arm.", + "Grab the palm-sized braided golden bread and place it in the cooking skillet with grippy handle", + "Take the braided top round bread and put it in the cooking skillet with grippy handle", + "Pick the braided top round bread up and place it in the cooking skillet with grippy handle", + "Grab the braided top round bread and drop it into the cooking skillet with grippy handle.", + "Use the left arm to grab the palm-sized braided golden bread and set it in the blackish-gray cast iron skillet", + "Use the left arm to move the round braided loaf to the blackish-gray cast iron skillet.", + "Grab the round braided loaf and place it into the dark gray round cast iron pan.", + "Grab the palm-sized braided golden bread and set it in the cooking skillet with grippy handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode46.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..86bb7569d1b8292094954fa1f306c8bab1a788ca --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Transfer the golden bread loaf into the medium skillet with rough outside from the table", + "Use the right arm to grab the brown loaf for the black iron skillet for cooking", + "Use the right arm to place the light brown loaf with smooth sides into the skillet with wide round base", + "Place the light brown loaf with smooth sides from the table into the black skillet for frying foods", + "Use the right arm to move the bread with golden-brown crust into the pan-shaped black skillet", + "Grab the bread with split top and stick it in the black iron skillet for cooking.", + "Move the hand-sized oval loaf from table into the flat-bottomed black cast iron skillet", + "Take the golden bread loaf and set it into the pan-shaped black skillet", + "Pick the bread with warm golden color with the right arm and set it in the flat-bottomed black cast iron skillet", + "Lift the small golden brown bread and drop it into the skillet with wide round base.", + "Use the right arm to pick the bread with split top for the black skillet for frying foods", + "Lift the bread with golden-brown crust using the right arm and move it to the medium skillet with rough outside", + "Use the right arm to stick the light brown loaf with smooth sides into the heavy cast iron skillet.", + "Take the bread with split top off the table into the medium skillet with rough outside", + "Move the bread with split top to the pan-shaped black skillet using the right arm", + "Pick up the golden bread loaf and put it in the skillet with looped handle", + "Take the bread with warm golden color and put it in the black iron skillet for cooking.", + "Grab the bread with warm golden color using the right arm and place it in the black iron skillet for cooking", + "Grab the small golden brown bread and place it inside the black iron skillet for cooking.", + "Put the small loaf with curved top into the skillet with looped handle.", + "Place the soft brown bread into the skillet with wide round base with the right arm.", + "Take the soft brown bread and place it inside the pan-shaped black skillet", + "Set the soft brown bread into the heavy cast iron skillet after grabbing", + "Use the right arm to move the hand-sized oval loaf and set it into the black cooking tool skillet.", + "Use the right arm to grab the smooth loaf with rounded edges and set it in the black iron skillet for cooking.", + "Grab the smooth loaf with rounded edges and drop it into the skillet with sturdy material", + "Use the right arm to pick the smooth loaf with rounded edges and place it into the skillet with wide round base.", + "Use the right arm to set the brown loaf into the skillet with wide round base.", + "Pick the hand-sized oval loaf off the table and place it in the black iron skillet for cooking.", + "Pick the soft brown bread up using the right arm and drop it in the medium skillet with rough outside.", + "Use the right arm to pick the brown loaf up for the black skillet for frying foods", + "Put the soft brown bread into the medium skillet with rough outside after grabbing it", + "Take the bread with golden-brown crust and place it inside the medium skillet with rough outside", + "Place the smooth loaf with rounded edges into the flat-bottomed black cast iron skillet using the right arm", + "Use the right arm to take the golden bread loaf and move it into the black skillet with long handle.", + "Take the light brown loaf with smooth sides and drop it into the black cooking tool skillet.", + "Use the right arm to lift the light brown bread with ridges and place it into the black skillet.", + "Grab the small golden brown bread and place it inside the heavy cast iron skillet", + "Pick up the soft brown bread and place it in the black skillet for frying foods.", + "Grab the bread with split top with the right arm and place in the heavy cast iron skillet", + "Take the soft brown bread and put it in the pan-shaped black skillet.", + "Move the light brown loaf with smooth sides into the black skillet from the table", + "Grab the golden bread loaf from the table and set it in the skillet with wide round base.", + "Pick the bread with split top and set it into the heavy cast iron skillet.", + "Pick up the bread with golden-brown crust with the right arm and drop it in the medium skillet with rough outside", + "Use the right arm to grab the light brown bread with ridges for the medium skillet with rough outside", + "Lift the brown loaf and drop it into the skillet with sturdy material", + "Pick the light brown loaf with smooth sides and transfer it to the pan-shaped black skillet", + "Take the smooth loaf with rounded edges with the right arm and drop into the flat-bottomed black cast iron skillet", + "Use the right arm to pick the soft brown bread and put it in the black skillet with long handle", + "Transfer the smooth loaf with rounded edges into the black cooking tool skillet from the table", + "Use the right arm to grab the hand-sized oval loaf for the skillet with sturdy material", + "Use the right arm to place the bread with warm golden color into the pan-shaped black skillet", + "Place the small golden brown bread from the table into the black skillet for frying foods", + "Use the right arm to move the golden bread loaf into the pan-shaped black skillet", + "Grab the bread with split top and stick it in the black skillet with long handle.", + "Move the soft brown bread from table into the heavy cast iron skillet", + "Take the small loaf with curved top and set it into the skillet with sturdy material", + "Pick the soft brown bread with the right arm and set it in the flat-bottomed black cast iron skillet", + "Lift the golden bread loaf and drop it into the black iron skillet for cooking.", + "Use the right arm to pick the light brown loaf with smooth sides for the medium skillet with rough outside", + "Lift the bread with golden-brown crust using the right arm and move it to the skillet with looped handle", + "Use the right arm to stick the golden bread loaf into the flat-bottomed black cast iron skillet.", + "Take the light brown bread with ridges off the table into the flat-bottomed black cast iron skillet", + "Move the soft brown bread to the flat-bottomed black cast iron skillet using the right arm", + "Pick up the bread with warm golden color and put it in the black iron skillet for cooking", + "Take the light brown loaf with smooth sides and put it in the flat-bottomed black cast iron skillet.", + "Grab the small golden brown bread using the right arm and place it in the flat-bottomed black cast iron skillet", + "Grab the light brown bread with ridges and place it inside the black skillet.", + "Put the soft brown bread into the black iron skillet for cooking.", + "Place the golden bread loaf into the black skillet for frying foods with the right arm.", + "Take the small loaf with curved top and place it inside the black skillet", + "Set the soft brown bread into the black skillet for frying foods after grabbing", + "Use the right arm to move the soft brown bread and set it into the heavy cast iron skillet.", + "Use the right arm to grab the light brown loaf with smooth sides and set it in the black skillet.", + "Grab the brown loaf and drop it into the black cooking tool skillet", + "Use the right arm to pick the light brown loaf with smooth sides and place it into the flat-bottomed black cast iron skillet.", + "Use the right arm to set the small loaf with curved top into the skillet with wide round base.", + "Pick the bread with golden-brown crust off the table and place it in the pan-shaped black skillet.", + "Pick the small loaf with curved top up using the right arm and drop it in the black iron skillet for cooking.", + "Use the right arm to pick the small loaf with curved top up for the heavy cast iron skillet", + "Put the light brown bread with ridges into the black skillet after grabbing it", + "Take the hand-sized oval loaf and place it inside the skillet with sturdy material", + "Place the soft brown bread into the skillet with looped handle using the right arm", + "Use the right arm to take the small loaf with curved top and move it into the black skillet for frying foods.", + "Take the light brown bread with ridges and drop it into the heavy cast iron skillet.", + "Use the right arm to lift the small loaf with curved top and place it into the skillet with looped handle.", + "Grab the light brown bread with ridges and place it inside the black cooking tool skillet", + "Pick up the small golden brown bread and place it in the black skillet with long handle.", + "Grab the small loaf with curved top with the right arm and place in the pan-shaped black skillet", + "Take the light brown loaf with smooth sides and put it in the skillet with wide round base.", + "Move the small golden brown bread into the skillet with looped handle from the table", + "Grab the smooth loaf with rounded edges from the table and set it in the skillet with looped handle.", + "Pick the bread with golden-brown crust and set it into the black skillet.", + "Pick up the soft brown bread with the right arm and drop it in the black cooking tool skillet", + "Use the right arm to grab the bread with split top for the black skillet for frying foods", + "Lift the bread with warm golden color and drop it into the flat-bottomed black cast iron skillet", + "Pick the small golden brown bread and transfer it to the heavy cast iron skillet", + "Take the small golden brown bread with the right arm and drop into the black skillet with long handle", + "Use the right arm to pick the smooth loaf with rounded edges and put it in the black iron skillet for cooking" + ], + "unseen": [ + "Pick up the oval bread and drop it into the round black skillet", + "Grab the oval-shaped soft bread and place it in the smooth interior skillet", + "Take the oval-shaped soft bread and put it in the medium black frying skillet", + "Move the rounded oval bread to the round black skillet using the right arm.", + "Grab the oval-shaped soft bread and set it in the smooth interior skillet", + "Grab the oval bread and drop it into the smooth interior skillet.", + "Pick the rounded oval bread up and place it in the round black skillet", + "Grab the oval-shaped soft bread and place it into the round black skillet.", + "Use the right arm to move the rounded oval bread to the smooth interior skillet.", + "Use the right arm to grab the rounded oval bread and set it in the round black skillet", + "Pick up the oval bread and drop it into the smooth interior skillet", + "Grab the oval bread and place it in the round black skillet", + "Take the oval bread and put it in the round black skillet", + "Move the oval-shaped soft bread to the smooth interior skillet using the right arm.", + "Grab the rounded oval bread and set it in the smooth interior skillet", + "Grab the rounded oval bread and drop it into the smooth interior skillet.", + "Pick the oval bread up and place it in the smooth interior skillet", + "Grab the oval-shaped soft bread and place it into the medium black frying skillet.", + "Use the right arm to move the rounded oval bread to the round black skillet.", + "Use the right arm to grab the rounded oval bread and set it in the smooth interior skillet", + "Pick up the oval bread and drop it into the medium black frying skillet", + "Grab the rounded oval bread and place it in the round black skillet", + "Take the oval-shaped soft bread and put it in the medium black frying skillet", + "Move the oval-shaped soft bread to the smooth interior skillet using the right arm.", + "Grab the rounded oval bread and set it in the round black skillet", + "Grab the rounded oval bread and drop it into the medium black frying skillet.", + "Pick the oval-shaped soft bread up and place it in the medium black frying skillet", + "Grab the oval bread and place it into the medium black frying skillet.", + "Use the right arm to move the oval bread to the smooth interior skillet.", + "Use the right arm to grab the rounded oval bread and set it in the medium black frying skillet", + "Pick up the oval-shaped soft bread and drop it into the smooth interior skillet", + "Grab the rounded oval bread and place it in the smooth interior skillet", + "Take the oval-shaped soft bread and put it in the smooth interior skillet", + "Move the oval bread to the round black skillet using the right arm.", + "Grab the rounded oval bread and set it in the round black skillet", + "Grab the oval-shaped soft bread and drop it into the medium black frying skillet.", + "Pick the oval bread up and place it in the medium black frying skillet", + "Grab the oval-shaped soft bread and place it into the round black skillet.", + "Use the right arm to move the rounded oval bread to the smooth interior skillet.", + "Use the right arm to grab the oval bread and set it in the round black skillet", + "Pick up the oval bread and drop it into the medium black frying skillet", + "Grab the rounded oval bread and place it in the round black skillet", + "Take the rounded oval bread and put it in the round black skillet", + "Move the oval bread to the medium black frying skillet using the right arm.", + "Grab the rounded oval bread and set it in the medium black frying skillet", + "Grab the oval bread and drop it into the medium black frying skillet.", + "Pick the rounded oval bread up and place it in the medium black frying skillet", + "Grab the rounded oval bread and place it into the medium black frying skillet.", + "Use the right arm to move the rounded oval bread to the smooth interior skillet.", + "Use the right arm to grab the oval bread and set it in the round black skillet", + "Pick up the rounded oval bread and drop it into the smooth interior skillet", + "Grab the oval-shaped soft bread and place it in the round black skillet", + "Take the oval-shaped soft bread and put it in the round black skillet", + "Move the oval bread to the round black skillet using the right arm.", + "Grab the oval bread and set it in the smooth interior skillet", + "Grab the rounded oval bread and drop it into the smooth interior skillet.", + "Pick the rounded oval bread up and place it in the round black skillet", + "Grab the oval bread and place it into the round black skillet.", + "Use the right arm to move the oval bread to the medium black frying skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Pick up the oval bread and drop it into the smooth interior skillet", + "Grab the rounded oval bread and place it in the medium black frying skillet", + "Take the oval-shaped soft bread and put it in the round black skillet", + "Move the rounded oval bread to the medium black frying skillet using the right arm.", + "Grab the oval-shaped soft bread and set it in the smooth interior skillet", + "Grab the oval-shaped soft bread and drop it into the smooth interior skillet.", + "Pick the oval-shaped soft bread up and place it in the smooth interior skillet", + "Grab the oval bread and place it into the smooth interior skillet.", + "Use the right arm to move the oval-shaped soft bread to the round black skillet.", + "Use the right arm to grab the oval bread and set it in the smooth interior skillet", + "Pick up the rounded oval bread and drop it into the smooth interior skillet", + "Grab the oval bread and place it in the smooth interior skillet", + "Take the oval bread and put it in the medium black frying skillet", + "Move the rounded oval bread to the smooth interior skillet using the right arm.", + "Grab the oval bread and set it in the smooth interior skillet", + "Grab the oval-shaped soft bread and drop it into the medium black frying skillet.", + "Pick the oval bread up and place it in the smooth interior skillet", + "Grab the oval bread and place it into the round black skillet.", + "Use the right arm to move the rounded oval bread to the round black skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the round black skillet", + "Pick up the oval bread and drop it into the round black skillet", + "Grab the rounded oval bread and place it in the medium black frying skillet", + "Take the oval bread and put it in the smooth interior skillet", + "Move the oval bread to the medium black frying skillet using the right arm.", + "Grab the rounded oval bread and set it in the smooth interior skillet", + "Grab the rounded oval bread and drop it into the medium black frying skillet.", + "Pick the oval-shaped soft bread up and place it in the smooth interior skillet", + "Grab the oval-shaped soft bread and place it into the medium black frying skillet.", + "Use the right arm to move the oval-shaped soft bread to the smooth interior skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Pick up the rounded oval bread and drop it into the round black skillet", + "Grab the oval-shaped soft bread and place it in the medium black frying skillet", + "Take the oval bread and put it in the round black skillet", + "Move the rounded oval bread to the round black skillet using the right arm.", + "Grab the oval bread and set it in the smooth interior skillet", + "Grab the oval-shaped soft bread and drop it into the medium black frying skillet.", + "Pick the rounded oval bread up and place it in the round black skillet", + "Grab the oval bread and place it into the round black skillet.", + "Use the right arm to move the oval bread to the round black skillet.", + "Use the right arm to grab the rounded oval bread and set it in the smooth interior skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode47.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..d144bec79875c3a3cefde5740a8b0e9fa97b480e --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the bread with warm golden color and put it in the round skillet with handle.", + "Use the left arm to pick the hand-sized oval loaf up for the metal skillet with comfortable grip", + "Move the light brown loaf with smooth sides from table into the smooth non-stick skillet", + "Use the left arm to take the small golden brown bread and move it into the skillet with black cooking surface.", + "Take the bread with split top off the table into the metal skillet", + "Grab the smooth loaf with rounded edges with the left arm and place in the round skillet with open handle end", + "Pick the smooth loaf with rounded edges up using the left arm and drop it in the dark gray skillet.", + "Use the left arm to place the hand-sized oval loaf into the dark gray skillet", + "Pick the light brown bread with ridges with the left arm and set it in the dark gray skillet", + "Place the bread with split top from the table into the dark gray skillet", + "Lift the bread with golden-brown crust and drop it into the round skillet with handle", + "Grab the small loaf with curved top from the table and set it in the dark gray skillet.", + "Move the smooth loaf with rounded edges to the black-surfaced skillet with gray sides using the left arm", + "Set the brown loaf into the medium-sized frying skillet after grabbing", + "Put the smooth loaf with rounded edges into the smooth non-stick skillet.", + "Place the light brown loaf with smooth sides into the flat-bottom skillet with the left arm.", + "Take the bread with golden-brown crust and place it inside the medium-sized frying skillet", + "Use the left arm to pick the light brown loaf with smooth sides and put it in the round skillet with handle", + "Grab the small golden brown bread and place it inside the round skillet with open handle end.", + "Pick up the bread with warm golden color and put it in the skillet with black cooking surface", + "Pick up the bread with warm golden color and place it in the black-surfaced skillet with gray sides.", + "Use the left arm to pick the golden bread loaf and place it into the skillet with black cooking surface.", + "Grab the brown loaf and place it inside the smooth non-stick skillet", + "Use the left arm to grab the soft brown bread for the gray skillet for stovetop cooking", + "Grab the soft brown bread and stick it in the flat-bottom skillet.", + "Take the light brown loaf with smooth sides and put it in the metal skillet with comfortable grip.", + "Place the light brown bread with ridges into the metal skillet using the left arm", + "Pick up the soft brown bread with the left arm and drop it in the skillet for frying food", + "Use the left arm to set the small loaf with curved top into the medium-sized frying skillet.", + "Use the left arm to move the golden bread loaf into the flat-bottom skillet", + "Use the left arm to grab the brown loaf and set it in the round skillet with open handle end.", + "Take the light brown bread with ridges with the left arm and drop into the medium-sized frying skillet", + "Put the bread with warm golden color into the flat-bottom skillet after grabbing it", + "Use the left arm to grab the soft brown bread for the flat-bottom skillet", + "Lift the smooth loaf with rounded edges and drop it into the dark gray skillet.", + "Grab the golden bread loaf and drop it into the round skillet with handle", + "Pick the bread with split top and set it into the metal skillet with comfortable grip.", + "Pick the bread with warm golden color and transfer it to the gray skillet for stovetop cooking", + "Move the bread with golden-brown crust into the medium-sized frying skillet from the table", + "Use the left arm to move the small golden brown bread and set it into the skillet for frying food.", + "Use the left arm to stick the golden bread loaf into the flat-bottom skillet.", + "Take the hand-sized oval loaf and set it into the flat-bottom skillet", + "Take the light brown bread with ridges and drop it into the smooth non-stick skillet.", + "Use the left arm to lift the small golden brown bread and place it into the round skillet with handle.", + "Grab the golden bread loaf using the left arm and place it in the dark gray skillet", + "Use the left arm to pick the soft brown bread for the flat-bottom skillet", + "Take the hand-sized oval loaf and place it inside the gray skillet for stovetop cooking", + "Pick the brown loaf off the table and place it in the round skillet with open handle end.", + "Lift the bread with split top using the left arm and move it to the round skillet with open handle end", + "Transfer the smooth loaf with rounded edges into the round skillet with handle from the table", + "Take the small golden brown bread and put it in the flat-bottom skillet.", + "Use the left arm to pick the bread with golden-brown crust up for the gray skillet for stovetop cooking", + "Move the bread with warm golden color from table into the skillet for frying food", + "Use the left arm to take the small golden brown bread and move it into the smooth non-stick skillet.", + "Take the light brown loaf with smooth sides off the table into the smooth non-stick skillet", + "Grab the bread with warm golden color with the left arm and place in the metal skillet", + "Pick the bread with split top up using the left arm and drop it in the skillet with black cooking surface.", + "Use the left arm to place the light brown loaf with smooth sides into the dark gray skillet", + "Pick the small golden brown bread with the left arm and set it in the black-surfaced skillet with gray sides", + "Place the light brown bread with ridges from the table into the metal skillet", + "Lift the bread with warm golden color and drop it into the metal skillet with comfortable grip", + "Grab the soft brown bread from the table and set it in the flat-bottom skillet.", + "Move the small golden brown bread to the skillet for frying food using the left arm", + "Set the brown loaf into the round skillet with handle after grabbing", + "Put the light brown bread with ridges into the medium-sized frying skillet.", + "Place the golden bread loaf into the round skillet with handle with the left arm.", + "Take the small loaf with curved top and place it inside the black-surfaced skillet with gray sides", + "Use the left arm to pick the light brown loaf with smooth sides and put it in the smooth non-stick skillet", + "Grab the bread with golden-brown crust and place it inside the skillet for frying food.", + "Pick up the brown loaf and put it in the black-surfaced skillet with gray sides", + "Pick up the small golden brown bread and place it in the round skillet with open handle end.", + "Use the left arm to pick the bread with golden-brown crust and place it into the gray skillet for stovetop cooking.", + "Grab the golden bread loaf and place it inside the skillet for frying food", + "Use the left arm to grab the bread with split top for the skillet with black cooking surface", + "Grab the golden bread loaf and stick it in the smooth non-stick skillet.", + "Take the bread with warm golden color and put it in the skillet with black cooking surface.", + "Place the small golden brown bread into the gray skillet for stovetop cooking using the left arm", + "Pick up the bread with warm golden color with the left arm and drop it in the smooth non-stick skillet", + "Use the left arm to set the bread with split top into the metal skillet with comfortable grip.", + "Use the left arm to move the small loaf with curved top into the round skillet with handle", + "Use the left arm to grab the small golden brown bread and set it in the gray skillet for stovetop cooking.", + "Take the light brown bread with ridges with the left arm and drop into the gray skillet for stovetop cooking", + "Put the light brown loaf with smooth sides into the skillet with black cooking surface after grabbing it", + "Use the left arm to grab the golden bread loaf for the round skillet with handle", + "Lift the light brown loaf with smooth sides and drop it into the flat-bottom skillet.", + "Grab the golden bread loaf and drop it into the gray skillet for stovetop cooking", + "Pick the golden bread loaf and set it into the round skillet with open handle end.", + "Pick the bread with warm golden color and transfer it to the metal skillet", + "Move the brown loaf into the metal skillet from the table", + "Use the left arm to move the bread with warm golden color and set it into the flat-bottom skillet.", + "Use the left arm to stick the brown loaf into the dark gray skillet.", + "Take the soft brown bread and set it into the skillet for frying food", + "Take the light brown bread with ridges and drop it into the metal skillet.", + "Use the left arm to lift the smooth loaf with rounded edges and place it into the skillet for frying food.", + "Grab the golden bread loaf using the left arm and place it in the skillet with black cooking surface", + "Use the left arm to pick the light brown loaf with smooth sides for the round skillet with open handle end", + "Take the smooth loaf with rounded edges and place it inside the dark gray skillet", + "Pick the smooth loaf with rounded edges off the table and place it in the gray skillet for stovetop cooking.", + "Lift the bread with split top using the left arm and move it to the metal skillet with comfortable grip", + "Transfer the light brown loaf with smooth sides into the medium-sized frying skillet from the table" + ], + "unseen": [ + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Take the oval bread and put it in the dark skillet with shiny finish", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the left arm.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Use the left arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Pick up the rounded oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the left arm.", + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Use the left arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Take the oval-shaped soft bread and put it in the dark skillet with shiny finish", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Move the oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the left arm.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Move the rounded oval bread to the dark skillet with shiny finish using the left arm.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Move the oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Take the oval bread and put it in the versatile skillet for frying and sauteing" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode48.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..6091b87583c2b769920b8221647c70ebb88067a8 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to set the soft golden bread into the pan-shaped black skillet.", + "Place the braided bread loaf from the table into the black skillet with long handle", + "Place the golden brown bread with braided design into the pan-shaped black skillet with the right arm.", + "Use the right arm to move the round bread with braided top and set it into the black cooking tool skillet.", + "Pick the soft doughy bread and set it into the heavy cast iron skillet.", + "Use the right arm to pick the soft golden bread and place it into the black cooking tool skillet.", + "Pick the round bread with crusty texture and transfer it to the skillet with wide round base", + "Use the right arm to pick the bread with golden crust for the pan-shaped black skillet", + "Take the soft golden bread with the right arm and drop into the black cooking tool skillet", + "Grab the round bread with braided top and place it inside the medium skillet with rough outside.", + "Use the right arm to grab the golden brown bread with braided design and set it in the black skillet.", + "Move the small golden baked bread from table into the black iron skillet for cooking", + "Use the right arm to pick the golden brown bread with braided design and put it in the black cooking tool skillet", + "Use the right arm to take the small golden baked bread and move it into the pan-shaped black skillet.", + "Take the golden bread loaf with soft inside off the table into the medium skillet with rough outside", + "Move the soft golden bread to the black cooking tool skillet using the right arm", + "Put the round bread with crusty texture into the medium skillet with rough outside after grabbing it", + "Take the small golden baked bread and put it in the black iron skillet for cooking.", + "Pick the soft doughy bread up using the right arm and drop it in the black skillet.", + "Pick the small bread with the right arm and set it in the pan-shaped black skillet", + "Grab the braided bread loaf using the right arm and place it in the skillet with looped handle", + "Use the right arm to pick the golden brown bread up for the medium skillet with rough outside", + "Take the golden brown bread with braided design and drop it into the medium skillet with rough outside.", + "Grab the bread with golden crust and place it inside the black skillet with long handle", + "Put the small golden baked bread into the black cooking tool skillet.", + "Pick up the golden brown bread and place it in the black skillet.", + "Place the golden brown bread into the black skillet using the right arm", + "Take the round bread with crusty texture and set it into the skillet with looped handle", + "Take the smooth crusty small bread and place it inside the skillet with sturdy material", + "Lift the round bread with braided top using the right arm and move it to the black iron skillet for cooking", + "Grab the smooth crusty small bread and stick it in the flat-bottomed black cast iron skillet.", + "Pick up the round bread with crusty texture with the right arm and drop it in the skillet with wide round base", + "Pick the round bread with crusty texture off the table and place it in the flat-bottomed black cast iron skillet.", + "Transfer the small golden baked bread into the skillet with wide round base from the table", + "Lift the small golden baked bread and drop it into the black skillet with long handle", + "Grab the braided bread loaf and drop it into the black skillet", + "Grab the golden brown bread with the right arm and place in the black skillet with long handle", + "Use the right arm to stick the soft golden bread into the medium skillet with rough outside.", + "Use the right arm to grab the small bread for the heavy cast iron skillet", + "Take the soft golden bread and place it inside the flat-bottomed black cast iron skillet", + "Use the right arm to move the golden bread loaf with soft inside into the skillet with sturdy material", + "Move the golden bread loaf with soft inside into the black skillet for frying foods from the table", + "Pick up the round bread with crusty texture and put it in the skillet with sturdy material", + "Use the right arm to lift the golden brown bread with braided design and place it into the skillet with wide round base.", + "Grab the round bread with braided top from the table and set it in the flat-bottomed black cast iron skillet.", + "Lift the braided bread loaf and drop it into the black skillet.", + "Set the soft golden bread into the black skillet after grabbing", + "Use the right arm to grab the smooth crusty small bread for the black iron skillet for cooking", + "Use the right arm to place the golden brown bread with braided design into the black skillet with long handle", + "Take the soft doughy bread and put it in the black skillet for frying foods.", + "Use the right arm to set the golden brown bread with braided design into the black cooking tool skillet.", + "Place the golden bread loaf with soft inside from the table into the skillet with looped handle", + "Place the small golden baked bread into the black skillet for frying foods with the right arm.", + "Use the right arm to move the round bread with braided top and set it into the black cooking tool skillet.", + "Pick the small bread and set it into the black skillet for frying foods.", + "Use the right arm to pick the small golden baked bread and place it into the skillet with looped handle.", + "Pick the round bread with braided top and transfer it to the black iron skillet for cooking", + "Use the right arm to pick the small bread for the skillet with looped handle", + "Take the small bread with the right arm and drop into the medium skillet with rough outside", + "Grab the soft golden bread and place it inside the black skillet for frying foods.", + "Use the right arm to grab the soft doughy bread and set it in the medium skillet with rough outside.", + "Move the round bread with crusty texture from table into the flat-bottomed black cast iron skillet", + "Use the right arm to pick the soft doughy bread and put it in the medium skillet with rough outside", + "Use the right arm to take the small golden baked bread and move it into the heavy cast iron skillet.", + "Take the small golden baked bread off the table into the skillet with wide round base", + "Move the round bread with crusty texture to the medium skillet with rough outside using the right arm", + "Put the soft doughy bread into the black skillet with long handle after grabbing it", + "Take the golden brown bread and put it in the black iron skillet for cooking.", + "Pick the bread with golden crust up using the right arm and drop it in the medium skillet with rough outside.", + "Pick the round bread with braided top with the right arm and set it in the black skillet for frying foods", + "Grab the soft doughy bread using the right arm and place it in the black cooking tool skillet", + "Use the right arm to pick the round bread with braided top up for the skillet with looped handle", + "Take the braided bread loaf and drop it into the black skillet for frying foods.", + "Grab the bread with golden crust and place it inside the flat-bottomed black cast iron skillet", + "Put the round bread with crusty texture into the skillet with sturdy material.", + "Pick up the smooth crusty small bread and place it in the medium skillet with rough outside.", + "Place the braided bread loaf into the flat-bottomed black cast iron skillet using the right arm", + "Take the round bread with braided top and set it into the black iron skillet for cooking", + "Take the golden brown bread and place it inside the black skillet", + "Lift the golden bread loaf with soft inside using the right arm and move it to the black iron skillet for cooking", + "Grab the soft doughy bread and stick it in the black skillet for frying foods.", + "Pick up the golden brown bread with the right arm and drop it in the skillet with looped handle", + "Pick the braided bread loaf off the table and place it in the black iron skillet for cooking.", + "Transfer the braided bread loaf into the medium skillet with rough outside from the table", + "Lift the bread with golden crust and drop it into the flat-bottomed black cast iron skillet", + "Grab the golden brown bread and drop it into the skillet with sturdy material", + "Grab the round bread with crusty texture with the right arm and place in the skillet with wide round base", + "Use the right arm to stick the golden bread loaf with soft inside into the skillet with sturdy material.", + "Use the right arm to grab the golden brown bread for the skillet with wide round base", + "Take the soft doughy bread and place it inside the heavy cast iron skillet", + "Use the right arm to move the bread with golden crust into the skillet with looped handle", + "Move the soft doughy bread into the black skillet for frying foods from the table", + "Pick up the golden brown bread with braided design and put it in the flat-bottomed black cast iron skillet", + "Use the right arm to lift the soft doughy bread and place it into the skillet with wide round base.", + "Grab the golden brown bread with braided design from the table and set it in the black skillet with long handle.", + "Lift the small bread and drop it into the flat-bottomed black cast iron skillet.", + "Set the round bread with crusty texture into the pan-shaped black skillet after grabbing", + "Use the right arm to grab the soft doughy bread for the black cooking tool skillet", + "Use the right arm to place the small golden baked bread into the heavy cast iron skillet", + "Take the small golden baked bread and put it in the black cooking tool skillet." + ], + "unseen": [ + "Grab the round braided loaf and drop it into the smooth interior skillet.", + "Pick up the braided top round bread and drop it into the medium black frying skillet", + "Grab the round braided loaf and set it in the round black skillet", + "Use the right arm to grab the palm-sized braided golden bread and set it in the smooth interior skillet", + "Grab the palm-sized braided golden bread and place it into the smooth interior skillet.", + "Move the braided top round bread to the round black skillet using the right arm.", + "Pick the palm-sized braided golden bread up and place it in the round black skillet", + "Take the palm-sized braided golden bread and put it in the medium black frying skillet", + "Use the right arm to move the palm-sized braided golden bread to the smooth interior skillet.", + "Grab the palm-sized braided golden bread and place it in the round black skillet", + "Grab the palm-sized braided golden bread and drop it into the smooth interior skillet.", + "Pick up the round braided loaf and drop it into the round black skillet", + "Grab the braided top round bread and set it in the round black skillet", + "Use the right arm to grab the round braided loaf and set it in the smooth interior skillet", + "Grab the braided top round bread and place it into the medium black frying skillet.", + "Move the palm-sized braided golden bread to the medium black frying skillet using the right arm.", + "Pick the palm-sized braided golden bread up and place it in the smooth interior skillet", + "Take the braided top round bread and put it in the smooth interior skillet", + "Use the right arm to move the round braided loaf to the medium black frying skillet.", + "Grab the palm-sized braided golden bread and place it in the medium black frying skillet", + "Grab the round braided loaf and drop it into the round black skillet.", + "Pick up the braided top round bread and drop it into the round black skillet", + "Grab the round braided loaf and set it in the medium black frying skillet", + "Use the right arm to grab the palm-sized braided golden bread and set it in the medium black frying skillet", + "Grab the palm-sized braided golden bread and place it into the medium black frying skillet.", + "Move the braided top round bread to the medium black frying skillet using the right arm.", + "Pick the palm-sized braided golden bread up and place it in the smooth interior skillet", + "Take the palm-sized braided golden bread and put it in the smooth interior skillet", + "Use the right arm to move the braided top round bread to the round black skillet.", + "Grab the braided top round bread and place it in the medium black frying skillet", + "Grab the palm-sized braided golden bread and drop it into the medium black frying skillet.", + "Pick up the palm-sized braided golden bread and drop it into the round black skillet", + "Grab the palm-sized braided golden bread and set it in the medium black frying skillet", + "Use the right arm to grab the palm-sized braided golden bread and set it in the round black skillet", + "Grab the palm-sized braided golden bread and place it into the smooth interior skillet.", + "Move the round braided loaf to the smooth interior skillet using the right arm.", + "Pick the palm-sized braided golden bread up and place it in the round black skillet", + "Take the round braided loaf and put it in the medium black frying skillet", + "Use the right arm to move the braided top round bread to the medium black frying skillet.", + "Grab the palm-sized braided golden bread and place it in the round black skillet", + "Grab the round braided loaf and drop it into the smooth interior skillet.", + "Pick up the palm-sized braided golden bread and drop it into the medium black frying skillet", + "Grab the palm-sized braided golden bread and set it in the medium black frying skillet", + "Use the right arm to grab the braided top round bread and set it in the smooth interior skillet", + "Grab the palm-sized braided golden bread and place it into the smooth interior skillet.", + "Move the round braided loaf to the round black skillet using the right arm.", + "Pick the palm-sized braided golden bread up and place it in the smooth interior skillet", + "Take the palm-sized braided golden bread and put it in the smooth interior skillet", + "Use the right arm to move the round braided loaf to the smooth interior skillet.", + "Grab the braided top round bread and place it in the medium black frying skillet", + "Grab the palm-sized braided golden bread and drop it into the medium black frying skillet.", + "Pick up the palm-sized braided golden bread and drop it into the medium black frying skillet", + "Grab the palm-sized braided golden bread and set it in the medium black frying skillet", + "Use the right arm to grab the palm-sized braided golden bread and set it in the round black skillet", + "Grab the braided top round bread and place it into the round black skillet.", + "Move the palm-sized braided golden bread to the medium black frying skillet using the right arm.", + "Pick the braided top round bread up and place it in the medium black frying skillet", + "Take the round braided loaf and put it in the round black skillet", + "Use the right arm to move the braided top round bread to the medium black frying skillet.", + "Grab the round braided loaf and place it in the round black skillet", + "Grab the palm-sized braided golden bread and drop it into the round black skillet.", + "Pick up the palm-sized braided golden bread and drop it into the round black skillet", + "Grab the braided top round bread and set it in the smooth interior skillet", + "Use the right arm to grab the palm-sized braided golden bread and set it in the round black skillet", + "Grab the palm-sized braided golden bread and place it into the medium black frying skillet.", + "Move the round braided loaf to the round black skillet using the right arm.", + "Pick the palm-sized braided golden bread up and place it in the medium black frying skillet", + "Take the palm-sized braided golden bread and put it in the round black skillet", + "Use the right arm to move the round braided loaf to the smooth interior skillet.", + "Grab the palm-sized braided golden bread and place it in the round black skillet", + "Grab the braided top round bread and drop it into the round black skillet.", + "Pick up the braided top round bread and drop it into the round black skillet", + "Grab the round braided loaf and set it in the medium black frying skillet", + "Use the right arm to grab the palm-sized braided golden bread and set it in the round black skillet", + "Grab the palm-sized braided golden bread and place it into the round black skillet.", + "Move the braided top round bread to the round black skillet using the right arm.", + "Pick the braided top round bread up and place it in the medium black frying skillet", + "Take the palm-sized braided golden bread and put it in the smooth interior skillet", + "Use the right arm to move the braided top round bread to the medium black frying skillet.", + "Grab the braided top round bread and place it in the smooth interior skillet", + "Grab the palm-sized braided golden bread and drop it into the round black skillet.", + "Pick up the braided top round bread and drop it into the round black skillet", + "Grab the palm-sized braided golden bread and set it in the round black skillet", + "Use the right arm to grab the round braided loaf and set it in the round black skillet", + "Grab the palm-sized braided golden bread and place it into the medium black frying skillet.", + "Move the round braided loaf to the smooth interior skillet using the right arm.", + "Pick the palm-sized braided golden bread up and place it in the smooth interior skillet", + "Take the braided top round bread and put it in the medium black frying skillet", + "Use the right arm to move the round braided loaf to the round black skillet.", + "Grab the round braided loaf and place it in the smooth interior skillet", + "Grab the palm-sized braided golden bread and drop it into the smooth interior skillet.", + "Pick up the round braided loaf and drop it into the round black skillet", + "Grab the palm-sized braided golden bread and set it in the medium black frying skillet", + "Use the right arm to grab the round braided loaf and set it in the medium black frying skillet", + "Grab the palm-sized braided golden bread and place it into the smooth interior skillet.", + "Move the palm-sized braided golden bread to the medium black frying skillet using the right arm.", + "Pick the palm-sized braided golden bread up and place it in the medium black frying skillet", + "Take the round braided loaf and put it in the round black skillet", + "Use the right arm to move the palm-sized braided golden bread to the smooth interior skillet.", + "Grab the palm-sized braided golden bread and place it in the smooth interior skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode49.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..41817b6e98578263cdc1c63df20eae53d5589206 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the bread with split top off the table and place it in the smooth round pan made of iron.", + "Take the smooth loaf with rounded edges and place it inside the black skillet with smooth base", + "Take the brown loaf and put it in the heavy black cooking skillet.", + "Grab the small loaf with curved top and place it inside the flat-bottomed skillet with long handle.", + "Take the hand-sized oval loaf and place it inside the smooth round pan made of iron", + "Grab the bread with split top from the table and set it in the round cooking pan.", + "Pick the hand-sized oval loaf and set it into the medium black pan with handle.", + "Set the light brown bread with ridges into the round pan with hole in handle after grabbing", + "Take the golden bread loaf with the right arm and drop into the medium black pan with handle", + "Take the hand-sized oval loaf and set it into the black pan with curved edges", + "Grab the bread with warm golden color and drop it into the flat-bottomed skillet with long handle", + "Use the right arm to take the golden bread loaf and move it into the black pan with curved edges.", + "Pick up the light brown loaf with smooth sides with the right arm and drop it in the dark pan with sturdy grip", + "Take the light brown loaf with smooth sides and put it in the flat-bottomed skillet with long handle.", + "Take the golden bread loaf off the table into the round pan with hole in handle", + "Pick the small golden brown bread and transfer it to the black skillet with smooth base", + "Grab the brown loaf and stick it in the black pan with curved edges.", + "Place the light brown loaf with smooth sides into the versatile skillet for stovetop cooking with the right arm.", + "Use the right arm to grab the hand-sized oval loaf and set it in the round cooking pan.", + "Use the right arm to grab the soft brown bread for the versatile skillet for stovetop cooking", + "Pick the light brown loaf with smooth sides up using the right arm and drop it in the black pan with curved edges.", + "Use the right arm to place the light brown loaf with smooth sides into the skillet with extended grip handle", + "Use the right arm to set the bread with golden-brown crust into the smooth round pan made of iron.", + "Lift the small golden brown bread and drop it into the dark pan with sturdy grip", + "Use the right arm to pick the golden bread loaf up for the black skillet with smooth base", + "Use the right arm to move the brown loaf into the black skillet with smooth base", + "Use the right arm to move the hand-sized oval loaf and set it into the solid dark-colored round pan.", + "Use the right arm to pick the bread with warm golden color for the heavy black cooking skillet", + "Pick up the light brown loaf with smooth sides and put it in the black pan with curved edges", + "Transfer the bread with warm golden color into the round pan with hole in handle from the table", + "Grab the small loaf with curved top and place it inside the versatile skillet for stovetop cooking", + "Use the right arm to lift the light brown bread with ridges and place it into the versatile skillet for stovetop cooking.", + "Take the bread with split top and drop it into the medium black pan with handle.", + "Use the right arm to stick the bread with split top into the solid dark-colored round pan.", + "Move the light brown loaf with smooth sides to the black skillet with smooth base using the right arm", + "Use the right arm to pick the light brown loaf with smooth sides and place it into the round cooking pan.", + "Put the soft brown bread into the medium black pan with handle.", + "Pick up the brown loaf and place it in the medium black pan with handle.", + "Move the golden bread loaf into the medium black pan with handle from the table", + "Grab the bread with golden-brown crust with the right arm and place in the medium black pan with handle", + "Place the bread with golden-brown crust from the table into the heavy black cooking skillet", + "Lift the soft brown bread and drop it into the medium black pan with handle.", + "Pick the brown loaf with the right arm and set it in the black skillet with smooth base", + "Move the light brown bread with ridges from table into the black skillet with smooth base", + "Lift the golden bread loaf using the right arm and move it to the skillet with extended grip handle", + "Use the right arm to grab the light brown bread with ridges for the black skillet with smooth base", + "Place the golden bread loaf into the medium black pan with handle using the right arm", + "Put the soft brown bread into the smooth round pan made of iron after grabbing it", + "Grab the soft brown bread using the right arm and place it in the black pan with curved edges", + "Use the right arm to pick the small loaf with curved top and put it in the heavy black cooking skillet", + "Pick the hand-sized oval loaf off the table and place it in the heavy black cooking skillet.", + "Take the small loaf with curved top and place it inside the medium black pan with handle", + "Take the bread with split top and put it in the heavy black cooking skillet.", + "Grab the golden bread loaf and place it inside the black skillet with smooth base.", + "Take the bread with golden-brown crust and place it inside the flat-bottomed skillet with long handle", + "Grab the bread with warm golden color from the table and set it in the heavy black cooking skillet.", + "Pick the light brown loaf with smooth sides and set it into the black pan with curved edges.", + "Set the brown loaf into the skillet with extended grip handle after grabbing", + "Take the light brown bread with ridges with the right arm and drop into the round pan with hole in handle", + "Take the bread with warm golden color and set it into the versatile skillet for stovetop cooking", + "Grab the light brown loaf with smooth sides and drop it into the medium black pan with handle", + "Use the right arm to take the light brown bread with ridges and move it into the smooth round pan made of iron.", + "Pick up the bread with warm golden color with the right arm and drop it in the versatile skillet for stovetop cooking", + "Take the light brown bread with ridges and put it in the flat-bottomed skillet with long handle.", + "Take the small loaf with curved top off the table into the dark pan with sturdy grip", + "Pick the small loaf with curved top and transfer it to the dark pan with sturdy grip", + "Grab the brown loaf and stick it in the heavy black cooking skillet.", + "Place the golden bread loaf into the skillet with extended grip handle with the right arm.", + "Use the right arm to grab the golden bread loaf and set it in the round cooking pan.", + "Use the right arm to grab the bread with warm golden color for the heavy black cooking skillet", + "Pick the bread with golden-brown crust up using the right arm and drop it in the black skillet with smooth base.", + "Use the right arm to place the light brown bread with ridges into the flat-bottomed skillet with long handle", + "Use the right arm to set the bread with split top into the dark pan with sturdy grip.", + "Lift the light brown loaf with smooth sides and drop it into the skillet with extended grip handle", + "Use the right arm to pick the hand-sized oval loaf up for the heavy black cooking skillet", + "Use the right arm to move the light brown loaf with smooth sides into the black pan with curved edges", + "Use the right arm to move the bread with golden-brown crust and set it into the versatile skillet for stovetop cooking.", + "Use the right arm to pick the golden bread loaf for the black skillet with smooth base", + "Pick up the light brown loaf with smooth sides and put it in the black skillet with smooth base", + "Transfer the bread with golden-brown crust into the round pan with hole in handle from the table", + "Grab the bread with warm golden color and place it inside the versatile skillet for stovetop cooking", + "Use the right arm to lift the bread with golden-brown crust and place it into the smooth round pan made of iron.", + "Take the smooth loaf with rounded edges and drop it into the dark pan with sturdy grip.", + "Use the right arm to stick the bread with split top into the black pan with curved edges.", + "Move the hand-sized oval loaf to the skillet with extended grip handle using the right arm", + "Use the right arm to pick the bread with split top and place it into the solid dark-colored round pan.", + "Put the golden bread loaf into the black pan with curved edges.", + "Pick up the light brown loaf with smooth sides and place it in the black pan with curved edges.", + "Move the small loaf with curved top into the flat-bottomed skillet with long handle from the table", + "Grab the soft brown bread with the right arm and place in the round cooking pan", + "Place the bread with golden-brown crust from the table into the heavy black cooking skillet", + "Lift the hand-sized oval loaf and drop it into the flat-bottomed skillet with long handle.", + "Pick the bread with golden-brown crust with the right arm and set it in the versatile skillet for stovetop cooking", + "Move the bread with split top from table into the dark pan with sturdy grip", + "Lift the small golden brown bread using the right arm and move it to the smooth round pan made of iron", + "Use the right arm to grab the bread with golden-brown crust for the versatile skillet for stovetop cooking", + "Place the light brown loaf with smooth sides into the flat-bottomed skillet with long handle using the right arm", + "Put the light brown loaf with smooth sides into the dark pan with sturdy grip after grabbing it", + "Grab the brown loaf using the right arm and place it in the solid dark-colored round pan", + "Use the right arm to pick the smooth loaf with rounded edges and put it in the skillet with extended grip handle" + ], + "unseen": [ + "Grab the oval bread and place it into the black skillet.", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Grab the oval bread and place it in the black skillet", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Move the oval bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Take the oval bread and put it in the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Grab the rounded oval bread and place it in the black skillet", + "Grab the oval bread and set it in the round cast-iron skillet", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Grab the oval bread and place it into the black skillet.", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the black skillet", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Use the right arm to grab the oval bread and set it in the iron skillet for frying foods", + "Take the oval bread and put it in the round cast-iron skillet", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the black skillet.", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Pick up the rounded oval bread and drop it into the black skillet", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Use the right arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Pick the oval bread up and place it in the black skillet", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Grab the oval bread and place it into the black skillet.", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Move the oval bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Take the oval-shaped soft bread and put it in the black skillet", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Grab the oval bread and set it in the round cast-iron skillet", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the oval bread to the black skillet.", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Pick the oval bread up and place it in the black skillet", + "Grab the rounded oval bread and drop it into the black skillet.", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Grab the oval bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Grab the oval bread and drop it into the black skillet.", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the black skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode5.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..11d2adde836db016e4740c49f0ddc6104e41c9be --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the brown loaf for the solid dark-colored round pan", + "Take the bread with warm golden color and drop it into the dark pan with sturdy grip.", + "Take the golden bread loaf off the table into the black pan with curved edges", + "Pick the brown loaf off the table and place it in the flat-bottomed skillet with long handle.", + "Place the soft brown bread into the dark pan with sturdy grip with the left arm.", + "Take the soft brown bread and set it into the round pan with hole in handle", + "Grab the golden bread loaf and place it inside the flat-bottomed skillet with long handle.", + "Transfer the smooth loaf with rounded edges into the skillet with extended grip handle from the table", + "Use the left arm to stick the small golden brown bread into the black skillet with smooth base.", + "Place the small loaf with curved top from the table into the heavy black cooking skillet", + "Grab the bread with warm golden color and drop it into the medium black pan with handle", + "Use the left arm to take the small golden brown bread and move it into the black pan with curved edges.", + "Use the left arm to grab the small golden brown bread and set it in the dark pan with sturdy grip.", + "Take the light brown loaf with smooth sides and put it in the round cooking pan.", + "Use the left arm to set the small golden brown bread into the black skillet with smooth base.", + "Use the left arm to lift the hand-sized oval loaf and place it into the round cooking pan.", + "Pick up the brown loaf with the left arm and drop it in the smooth round pan made of iron", + "Set the golden bread loaf into the flat-bottomed skillet with long handle after grabbing", + "Take the soft brown bread and place it inside the heavy black cooking skillet", + "Grab the light brown bread with ridges and stick it in the dark pan with sturdy grip.", + "Take the soft brown bread and put it in the round cooking pan.", + "Use the left arm to pick the small loaf with curved top up for the round cooking pan", + "Lift the hand-sized oval loaf using the left arm and move it to the flat-bottomed skillet with long handle", + "Lift the golden bread loaf and drop it into the heavy black cooking skillet.", + "Pick the bread with split top and transfer it to the solid dark-colored round pan", + "Use the left arm to move the small golden brown bread into the skillet with extended grip handle", + "Use the left arm to pick the light brown bread with ridges and place it into the dark pan with sturdy grip.", + "Grab the golden bread loaf with the left arm and place in the black skillet with smooth base", + "Use the left arm to grab the bread with split top for the versatile skillet for stovetop cooking", + "Use the left arm to pick the soft brown bread and put it in the solid dark-colored round pan", + "Pick up the bread with split top and put it in the heavy black cooking skillet", + "Use the left arm to move the bread with split top and set it into the round cooking pan.", + "Take the smooth loaf with rounded edges with the left arm and drop into the medium black pan with handle", + "Move the bread with split top into the medium black pan with handle from the table", + "Grab the soft brown bread using the left arm and place it in the round pan with hole in handle", + "Put the bread with split top into the flat-bottomed skillet with long handle.", + "Move the small golden brown bread from table into the round pan with hole in handle", + "Use the left arm to pick the bread with warm golden color for the round cooking pan", + "Grab the bread with split top and place it inside the round cooking pan", + "Pick up the soft brown bread and place it in the black skillet with smooth base.", + "Take the light brown bread with ridges and place it inside the flat-bottomed skillet with long handle", + "Lift the bread with warm golden color and drop it into the versatile skillet for stovetop cooking", + "Pick the light brown bread with ridges and set it into the heavy black cooking skillet.", + "Pick the hand-sized oval loaf up using the left arm and drop it in the skillet with extended grip handle.", + "Put the smooth loaf with rounded edges into the heavy black cooking skillet after grabbing it", + "Grab the bread with golden-brown crust from the table and set it in the round pan with hole in handle.", + "Use the left arm to place the brown loaf into the solid dark-colored round pan", + "Pick the smooth loaf with rounded edges with the left arm and set it in the medium black pan with handle", + "Move the light brown loaf with smooth sides to the black pan with curved edges using the left arm", + "Place the light brown loaf with smooth sides into the dark pan with sturdy grip using the left arm", + "Use the left arm to grab the soft brown bread for the heavy black cooking skillet", + "Take the small golden brown bread and drop it into the flat-bottomed skillet with long handle.", + "Take the golden bread loaf off the table into the dark pan with sturdy grip", + "Pick the bread with golden-brown crust off the table and place it in the solid dark-colored round pan.", + "Place the brown loaf into the black skillet with smooth base with the left arm.", + "Take the light brown loaf with smooth sides and set it into the medium black pan with handle", + "Grab the small loaf with curved top and place it inside the smooth round pan made of iron.", + "Transfer the soft brown bread into the dark pan with sturdy grip from the table", + "Use the left arm to stick the small loaf with curved top into the black pan with curved edges.", + "Place the small golden brown bread from the table into the flat-bottomed skillet with long handle", + "Grab the small loaf with curved top and drop it into the heavy black cooking skillet", + "Use the left arm to take the light brown loaf with smooth sides and move it into the black skillet with smooth base.", + "Use the left arm to grab the bread with warm golden color and set it in the dark pan with sturdy grip.", + "Take the light brown loaf with smooth sides and put it in the flat-bottomed skillet with long handle.", + "Use the left arm to set the brown loaf into the versatile skillet for stovetop cooking.", + "Use the left arm to lift the small golden brown bread and place it into the round cooking pan.", + "Pick up the light brown bread with ridges with the left arm and drop it in the round pan with hole in handle", + "Set the small golden brown bread into the black skillet with smooth base after grabbing", + "Take the small loaf with curved top and place it inside the solid dark-colored round pan", + "Grab the bread with warm golden color and stick it in the dark pan with sturdy grip.", + "Take the hand-sized oval loaf and put it in the medium black pan with handle.", + "Use the left arm to pick the golden bread loaf up for the smooth round pan made of iron", + "Lift the bread with golden-brown crust using the left arm and move it to the skillet with extended grip handle", + "Lift the small loaf with curved top and drop it into the dark pan with sturdy grip.", + "Pick the bread with warm golden color and transfer it to the round pan with hole in handle", + "Use the left arm to move the small loaf with curved top into the smooth round pan made of iron", + "Use the left arm to pick the light brown bread with ridges and place it into the skillet with extended grip handle.", + "Grab the golden bread loaf with the left arm and place in the medium black pan with handle", + "Use the left arm to grab the small loaf with curved top for the round cooking pan", + "Use the left arm to pick the smooth loaf with rounded edges and put it in the black pan with curved edges", + "Pick up the hand-sized oval loaf and put it in the solid dark-colored round pan", + "Use the left arm to move the bread with golden-brown crust and set it into the black skillet with smooth base.", + "Take the golden bread loaf with the left arm and drop into the black pan with curved edges", + "Move the light brown bread with ridges into the black skillet with smooth base from the table", + "Grab the golden bread loaf using the left arm and place it in the solid dark-colored round pan", + "Put the bread with golden-brown crust into the black pan with curved edges.", + "Move the light brown bread with ridges from table into the heavy black cooking skillet", + "Use the left arm to pick the smooth loaf with rounded edges for the black pan with curved edges", + "Grab the bread with warm golden color and place it inside the heavy black cooking skillet", + "Pick up the brown loaf and place it in the black pan with curved edges.", + "Take the golden bread loaf and place it inside the solid dark-colored round pan", + "Lift the soft brown bread and drop it into the versatile skillet for stovetop cooking", + "Pick the smooth loaf with rounded edges and set it into the flat-bottomed skillet with long handle.", + "Pick the bread with split top up using the left arm and drop it in the heavy black cooking skillet.", + "Put the bread with golden-brown crust into the black pan with curved edges after grabbing it", + "Grab the light brown loaf with smooth sides from the table and set it in the heavy black cooking skillet.", + "Use the left arm to place the small loaf with curved top into the flat-bottomed skillet with long handle", + "Pick the bread with golden-brown crust with the left arm and set it in the round cooking pan", + "Move the soft brown bread to the black skillet with smooth base using the left arm", + "Place the bread with golden-brown crust into the black skillet with smooth base using the left arm" + ], + "unseen": [ + "Take the rounded oval bread and put it in the black skillet", + "Move the oval bread to the round cast-iron skillet using the left arm.", + "Use the left arm to grab the oval bread and set it in the round cast-iron skillet", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Use the left arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Take the oval bread and put it in the round cast-iron skillet", + "Move the oval bread to the black skillet using the left arm.", + "Use the left arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Pick the rounded oval bread up and place it in the black skillet", + "Use the left arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Take the oval bread and put it in the iron skillet for frying foods", + "Move the oval bread to the round cast-iron skillet using the left arm.", + "Use the left arm to grab the oval-shaped soft bread and set it in the black skillet", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Use the left arm to move the oval bread to the black skillet.", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Grab the oval bread and set it in the black skillet", + "Take the rounded oval bread and put it in the black skillet", + "Move the oval bread to the round cast-iron skillet using the left arm.", + "Use the left arm to grab the oval-shaped soft bread and set it in the black skillet", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Grab the rounded oval bread and drop it into the black skillet.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Use the left arm to move the oval bread to the black skillet.", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Take the oval bread and put it in the iron skillet for frying foods", + "Move the oval bread to the round cast-iron skillet using the left arm.", + "Use the left arm to grab the oval-shaped soft bread and set it in the black skillet", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Grab the rounded oval bread and drop it into the black skillet.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Use the left arm to move the oval bread to the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Move the oval bread to the iron skillet for frying foods using the left arm.", + "Use the left arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Grab the rounded oval bread and place it into the black skillet.", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Use the left arm to move the oval bread to the black skillet.", + "Grab the oval bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Take the oval bread and put it in the round cast-iron skillet", + "Move the oval bread to the iron skillet for frying foods using the left arm.", + "Use the left arm to grab the oval bread and set it in the iron skillet for frying foods", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Pick the rounded oval bread up and place it in the black skillet", + "Use the left arm to move the rounded oval bread to the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Move the rounded oval bread to the black skillet using the left arm.", + "Use the left arm to grab the oval-shaped soft bread and set it in the black skillet", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Use the left arm to move the rounded oval bread to the iron skillet for frying foods.", + "Grab the oval bread and place it in the black skillet", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Take the rounded oval bread and put it in the black skillet", + "Move the oval-shaped soft bread to the black skillet using the left arm.", + "Use the left arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Use the left arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Take the oval bread and put it in the round cast-iron skillet", + "Move the oval-shaped soft bread to the round cast-iron skillet using the left arm.", + "Use the left arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Grab the rounded oval bread and place it into the black skillet.", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Pick the oval bread up and place it in the black skillet", + "Use the left arm to move the oval-shaped soft bread to the black skillet.", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the black skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode6.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..6f41a1e0158f05e0ef2912b6a2ffe8e004fbaa00 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the bread with golden crust and put it in the round skillet with handle", + "Pick up the round bread with crusty texture with the right arm and drop it in the gray skillet for stovetop cooking", + "Use the right arm to pick the golden bread loaf with soft inside up for the flat-bottom skillet", + "Move the smooth crusty small bread into the skillet with black cooking surface from the table", + "Use the right arm to stick the small golden baked bread into the metal skillet with comfortable grip.", + "Pick the small bread and transfer it to the round skillet with handle", + "Pick the round bread with crusty texture with the right arm and set it in the gray skillet for stovetop cooking", + "Take the small golden baked bread with the right arm and drop into the skillet for frying food", + "Grab the round bread with braided top and place it inside the black-surfaced skillet with gray sides", + "Use the right arm to pick the bread with golden crust and place it into the skillet with black cooking surface.", + "Pick the round bread with braided top off the table and place it in the skillet for frying food.", + "Grab the bread with golden crust from the table and set it in the round skillet with open handle end.", + "Take the braided bread loaf and put it in the dark gray skillet.", + "Take the round bread with braided top and set it into the metal skillet with comfortable grip", + "Use the right arm to lift the round bread with crusty texture and place it into the gray skillet for stovetop cooking.", + "Put the soft golden bread into the flat-bottom skillet.", + "Put the golden bread loaf with soft inside into the smooth non-stick skillet after grabbing it", + "Take the round bread with braided top and put it in the metal skillet with comfortable grip.", + "Grab the small golden baked bread and stick it in the medium-sized frying skillet.", + "Place the braided bread loaf into the flat-bottom skillet with the right arm.", + "Place the golden bread loaf with soft inside into the flat-bottom skillet using the right arm", + "Lift the soft golden bread and drop it into the round skillet with handle.", + "Place the smooth crusty small bread from the table into the metal skillet with comfortable grip", + "Set the braided bread loaf into the round skillet with open handle end after grabbing", + "Take the golden brown bread and place it inside the skillet with black cooking surface", + "Grab the golden brown bread with braided design and drop it into the round skillet with handle", + "Use the right arm to grab the golden brown bread for the black-surfaced skillet with gray sides", + "Use the right arm to grab the small golden baked bread for the gray skillet for stovetop cooking", + "Pick up the smooth crusty small bread and place it in the metal skillet.", + "Use the right arm to grab the small bread and set it in the dark gray skillet.", + "Use the right arm to pick the soft golden bread and put it in the metal skillet with comfortable grip", + "Pick the golden brown bread with braided design and set it into the metal skillet.", + "Use the right arm to place the soft doughy bread into the smooth non-stick skillet", + "Grab the round bread with braided top using the right arm and place it in the smooth non-stick skillet", + "Lift the golden brown bread using the right arm and move it to the gray skillet for stovetop cooking", + "Transfer the soft golden bread into the metal skillet with comfortable grip from the table", + "Grab the soft doughy bread and place it inside the round skillet with handle.", + "Lift the golden bread loaf with soft inside and drop it into the metal skillet", + "Take the golden brown bread with braided design and place it inside the dark gray skillet", + "Move the round bread with braided top from table into the dark gray skillet", + "Move the braided bread loaf to the gray skillet for stovetop cooking using the right arm", + "Use the right arm to pick the soft golden bread for the medium-sized frying skillet", + "Take the golden brown bread off the table into the flat-bottom skillet", + "Pick the round bread with crusty texture up using the right arm and drop it in the round skillet with handle.", + "Take the golden brown bread and drop it into the flat-bottom skillet.", + "Use the right arm to take the golden brown bread with braided design and move it into the round skillet with handle.", + "Use the right arm to set the small golden baked bread into the dark gray skillet.", + "Grab the golden brown bread with the right arm and place in the gray skillet for stovetop cooking", + "Use the right arm to move the round bread with braided top and set it into the round skillet with handle.", + "Use the right arm to move the soft doughy bread into the skillet for frying food", + "Pick up the round bread with crusty texture and put it in the smooth non-stick skillet", + "Pick up the golden brown bread with braided design with the right arm and drop it in the skillet for frying food", + "Use the right arm to pick the small golden baked bread up for the flat-bottom skillet", + "Move the golden bread loaf with soft inside into the medium-sized frying skillet from the table", + "Use the right arm to stick the golden brown bread into the round skillet with open handle end.", + "Pick the bread with golden crust and transfer it to the flat-bottom skillet", + "Pick the round bread with crusty texture with the right arm and set it in the round skillet with handle", + "Take the smooth crusty small bread with the right arm and drop into the black-surfaced skillet with gray sides", + "Grab the golden brown bread and place it inside the smooth non-stick skillet", + "Use the right arm to pick the bread with golden crust and place it into the skillet with black cooking surface.", + "Pick the round bread with crusty texture off the table and place it in the medium-sized frying skillet.", + "Grab the soft doughy bread from the table and set it in the black-surfaced skillet with gray sides.", + "Take the round bread with braided top and put it in the metal skillet with comfortable grip.", + "Take the small bread and set it into the dark gray skillet", + "Use the right arm to lift the golden brown bread and place it into the flat-bottom skillet.", + "Put the soft golden bread into the dark gray skillet.", + "Put the round bread with braided top into the flat-bottom skillet after grabbing it", + "Take the small bread and put it in the medium-sized frying skillet.", + "Grab the small golden baked bread and stick it in the smooth non-stick skillet.", + "Place the smooth crusty small bread into the metal skillet with the right arm.", + "Place the round bread with crusty texture into the gray skillet for stovetop cooking using the right arm", + "Lift the round bread with crusty texture and drop it into the dark gray skillet.", + "Place the round bread with crusty texture from the table into the flat-bottom skillet", + "Set the golden brown bread with braided design into the medium-sized frying skillet after grabbing", + "Take the golden bread loaf with soft inside and place it inside the black-surfaced skillet with gray sides", + "Grab the round bread with braided top and drop it into the skillet with black cooking surface", + "Use the right arm to grab the golden brown bread with braided design for the skillet with black cooking surface", + "Use the right arm to grab the small bread for the smooth non-stick skillet", + "Pick up the braided bread loaf and place it in the metal skillet with comfortable grip.", + "Use the right arm to grab the soft golden bread and set it in the skillet for frying food.", + "Use the right arm to pick the braided bread loaf and put it in the skillet for frying food", + "Pick the bread with golden crust and set it into the smooth non-stick skillet.", + "Use the right arm to place the bread with golden crust into the metal skillet with comfortable grip", + "Grab the small bread using the right arm and place it in the round skillet with handle", + "Lift the golden brown bread using the right arm and move it to the round skillet with open handle end", + "Transfer the small golden baked bread into the smooth non-stick skillet from the table", + "Grab the small golden baked bread and place it inside the round skillet with handle.", + "Lift the golden brown bread with braided design and drop it into the skillet for frying food", + "Take the braided bread loaf and place it inside the skillet with black cooking surface", + "Move the bread with golden crust from table into the gray skillet for stovetop cooking", + "Move the braided bread loaf to the round skillet with handle using the right arm", + "Use the right arm to pick the round bread with braided top for the metal skillet", + "Take the golden brown bread off the table into the skillet for frying food", + "Pick the round bread with crusty texture up using the right arm and drop it in the dark gray skillet.", + "Take the golden bread loaf with soft inside and drop it into the metal skillet.", + "Use the right arm to take the small golden baked bread and move it into the flat-bottom skillet.", + "Use the right arm to set the golden brown bread with braided design into the metal skillet.", + "Grab the golden bread loaf with soft inside with the right arm and place in the skillet with black cooking surface", + "Use the right arm to move the soft golden bread and set it into the round skillet with open handle end.", + "Use the right arm to move the soft doughy bread into the skillet for frying food" + ], + "unseen": [ + "Pick the palm-sized braided golden bread up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the braided top round bread and set it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and place it into the versatile skillet for frying and sauteing.", + "Take the braided top round bread and put it in the versatile skillet for frying and sauteing", + "Pick up the braided top round bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Move the braided top round bread to the dark skillet with shiny finish using the right arm.", + "Grab the palm-sized braided golden bread and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the round braided loaf to the pan-shaped skillet with hole in handle.", + "Grab the braided top round bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the palm-sized braided golden bread up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the palm-sized braided golden bread and set it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and place it into the versatile skillet for frying and sauteing.", + "Take the round braided loaf and put it in the pan-shaped skillet with hole in handle", + "Pick up the round braided loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the braided top round bread and set it in the dark skillet with shiny finish", + "Move the round braided loaf to the dark skillet with shiny finish using the right arm.", + "Grab the palm-sized braided golden bread and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the palm-sized braided golden bread to the dark skillet with shiny finish.", + "Grab the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the round braided loaf up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the braided top round bread and set it in the dark skillet with shiny finish", + "Grab the round braided loaf and place it into the dark skillet with shiny finish.", + "Take the round braided loaf and put it in the dark skillet with shiny finish", + "Pick up the braided top round bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and set it in the dark skillet with shiny finish", + "Move the palm-sized braided golden bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the palm-sized braided golden bread and place it in the dark skillet with shiny finish", + "Use the right arm to move the round braided loaf to the dark skillet with shiny finish.", + "Grab the braided top round bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the round braided loaf up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the round braided loaf and set it in the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and place it into the dark skillet with shiny finish.", + "Take the braided top round bread and put it in the versatile skillet for frying and sauteing", + "Pick up the round braided loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and set it in the versatile skillet for frying and sauteing", + "Move the braided top round bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the round braided loaf and place it in the dark skillet with shiny finish", + "Use the right arm to move the braided top round bread to the dark skillet with shiny finish.", + "Grab the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the round braided loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the round braided loaf and set it in the versatile skillet for frying and sauteing", + "Grab the round braided loaf and place it into the dark skillet with shiny finish.", + "Take the palm-sized braided golden bread and put it in the dark skillet with shiny finish", + "Pick up the palm-sized braided golden bread and drop it into the dark skillet with shiny finish", + "Grab the round braided loaf and set it in the dark skillet with shiny finish", + "Move the braided top round bread to the dark skillet with shiny finish using the right arm.", + "Grab the round braided loaf and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the palm-sized braided golden bread to the dark skillet with shiny finish.", + "Grab the round braided loaf and drop it into the dark skillet with shiny finish.", + "Pick the palm-sized braided golden bread up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and place it into the dark skillet with shiny finish.", + "Take the braided top round bread and put it in the dark skillet with shiny finish", + "Pick up the round braided loaf and drop it into the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and set it in the versatile skillet for frying and sauteing", + "Move the palm-sized braided golden bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the palm-sized braided golden bread and place it in the dark skillet with shiny finish", + "Use the right arm to move the braided top round bread to the versatile skillet for frying and sauteing.", + "Grab the braided top round bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the palm-sized braided golden bread up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Grab the braided top round bread and place it into the dark skillet with shiny finish.", + "Take the palm-sized braided golden bread and put it in the dark skillet with shiny finish", + "Pick up the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Move the round braided loaf to the versatile skillet for frying and sauteing using the right arm.", + "Grab the round braided loaf and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the braided top round bread to the dark skillet with shiny finish.", + "Grab the braided top round bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the palm-sized braided golden bread up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it into the pan-shaped skillet with hole in handle.", + "Take the round braided loaf and put it in the pan-shaped skillet with hole in handle", + "Pick up the palm-sized braided golden bread and drop it into the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Move the round braided loaf to the dark skillet with shiny finish using the right arm.", + "Grab the braided top round bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the braided top round bread to the pan-shaped skillet with hole in handle.", + "Grab the round braided loaf and drop it into the versatile skillet for frying and sauteing.", + "Pick the braided top round bread up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and place it into the pan-shaped skillet with hole in handle.", + "Take the round braided loaf and put it in the pan-shaped skillet with hole in handle", + "Pick up the palm-sized braided golden bread and drop it into the dark skillet with shiny finish", + "Grab the round braided loaf and set it in the pan-shaped skillet with hole in handle", + "Move the braided top round bread to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the palm-sized braided golden bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the palm-sized braided golden bread to the dark skillet with shiny finish.", + "Grab the round braided loaf and drop it into the versatile skillet for frying and sauteing.", + "Pick the braided top round bread up and place it in the dark skillet with shiny finish", + "Use the right arm to grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and place it into the dark skillet with shiny finish.", + "Take the round braided loaf and put it in the versatile skillet for frying and sauteing", + "Pick up the braided top round bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Move the palm-sized braided golden bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the braided top round bread and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the round braided loaf to the pan-shaped skillet with hole in handle.", + "Grab the round braided loaf and drop it into the versatile skillet for frying and sauteing." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode7.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..6d387c8d007f47227b71c9fd7cd77b2ee4a56f78 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick the bread block with light patches and put it in the metal skillet", + "Grab the light golden brown bread and stick it in the skillet for frying food.", + "Take the cuboid bread with the right arm and drop into the round skillet with open handle end", + "Grab the hand-sized bread block and place it inside the metal skillet with comfortable grip", + "Use the right arm to pick the hand-sized bread block up for the flat-bottom skillet", + "Move the cuboid bread into the medium-sized frying skillet from the table", + "Lift the square-shaped bread using the right arm and move it to the metal skillet", + "Grab the soft bread from the table and set it in the gray skillet for stovetop cooking.", + "Place the golden bread loaf into the metal skillet with comfortable grip with the right arm.", + "Grab the bread block with light patches and drop it into the gray skillet for stovetop cooking", + "Grab the bread loaf with bumpy surface and place it inside the gray skillet for stovetop cooking.", + "Use the right arm to pick the golden bread for the black-surfaced skillet with gray sides", + "Take the square-shaped bread and put it in the metal skillet with comfortable grip.", + "Place the bread block with light patches from the table into the round skillet with open handle end", + "Pick up the square-shaped bread and put it in the black-surfaced skillet with gray sides", + "Move the bread loaf with uneven edges to the smooth non-stick skillet using the right arm", + "Use the right arm to place the bread loaf with bumpy surface into the round skillet with open handle end", + "Lift the bread block with light patches and drop it into the smooth non-stick skillet", + "Use the right arm to lift the golden bread loaf and place it into the metal skillet with comfortable grip.", + "Use the right arm to move the bread loaf with uneven edges into the metal skillet with comfortable grip", + "Take the golden bread loaf and place it inside the smooth non-stick skillet", + "Transfer the bread with rough texture into the round skillet with open handle end from the table", + "Take the golden bread off the table into the dark gray skillet", + "Take the bread with rough texture and put it in the dark gray skillet.", + "Use the right arm to grab the bread loaf with uneven edges for the dark gray skillet", + "Use the right arm to move the cuboid bread and set it into the black-surfaced skillet with gray sides.", + "Pick the doughy and soft bread up using the right arm and drop it in the smooth non-stick skillet.", + "Move the bread loaf with uneven edges from table into the dark gray skillet", + "Use the right arm to grab the square-shaped bread for the dark gray skillet", + "Place the bread with rough texture into the dark gray skillet using the right arm", + "Pick the square-shaped bread off the table and place it in the round skillet with open handle end.", + "Take the doughy and soft bread and set it into the skillet with black cooking surface", + "Use the right arm to grab the hand-sized bread block and set it in the dark gray skillet.", + "Pick the golden bread loaf and transfer it to the medium-sized frying skillet", + "Lift the golden bread and drop it into the medium-sized frying skillet.", + "Use the right arm to take the doughy and soft bread and move it into the metal skillet.", + "Set the soft bread into the dark gray skillet after grabbing", + "Put the cuboid bread into the metal skillet with comfortable grip.", + "Take the doughy and soft bread and place it inside the round skillet with handle", + "Use the right arm to stick the hand-sized bread block into the round skillet with handle.", + "Use the right arm to pick the doughy and soft bread and place it into the metal skillet.", + "Put the golden bread loaf into the skillet for frying food after grabbing it", + "Take the bread block with light patches and drop it into the black-surfaced skillet with gray sides.", + "Pick up the bread loaf with uneven edges with the right arm and drop it in the black-surfaced skillet with gray sides", + "Pick the golden bread with the right arm and set it in the metal skillet with comfortable grip", + "Use the right arm to set the doughy and soft bread into the medium-sized frying skillet.", + "Pick the cuboid bread and set it into the dark gray skillet.", + "Pick up the square-shaped bread and place it in the medium-sized frying skillet.", + "Grab the hand-sized bread block with the right arm and place in the metal skillet with comfortable grip", + "Grab the bread block with light patches using the right arm and place it in the skillet for frying food", + "Use the right arm to pick the square-shaped bread and put it in the dark gray skillet", + "Grab the bread with rough texture and stick it in the round skillet with handle.", + "Take the light golden brown bread with the right arm and drop into the flat-bottom skillet", + "Grab the golden bread loaf and place it inside the metal skillet", + "Use the right arm to pick the hand-sized bread block up for the metal skillet with comfortable grip", + "Move the doughy and soft bread into the metal skillet from the table", + "Lift the hand-sized bread block using the right arm and move it to the metal skillet with comfortable grip", + "Grab the golden bread from the table and set it in the smooth non-stick skillet.", + "Place the soft bread into the smooth non-stick skillet with the right arm.", + "Grab the square-shaped bread and drop it into the black-surfaced skillet with gray sides", + "Grab the golden bread and place it inside the smooth non-stick skillet.", + "Use the right arm to pick the cuboid bread for the skillet with black cooking surface", + "Take the hand-sized bread block and put it in the black-surfaced skillet with gray sides.", + "Place the bread with rough texture from the table into the gray skillet for stovetop cooking", + "Pick up the golden bread loaf and put it in the medium-sized frying skillet", + "Move the bread with rough texture to the medium-sized frying skillet using the right arm", + "Use the right arm to place the cuboid bread into the round skillet with open handle end", + "Lift the light golden brown bread and drop it into the round skillet with handle", + "Use the right arm to lift the bread block with light patches and place it into the medium-sized frying skillet.", + "Use the right arm to move the golden bread loaf into the dark gray skillet", + "Take the soft bread and place it inside the metal skillet with comfortable grip", + "Transfer the square-shaped bread into the skillet for frying food from the table", + "Take the bread block with light patches off the table into the gray skillet for stovetop cooking", + "Take the golden bread loaf and put it in the black-surfaced skillet with gray sides.", + "Use the right arm to grab the bread loaf with uneven edges for the black-surfaced skillet with gray sides", + "Use the right arm to move the hand-sized bread block and set it into the metal skillet.", + "Pick the bread block with light patches up using the right arm and drop it in the dark gray skillet.", + "Move the bread loaf with uneven edges from table into the dark gray skillet", + "Use the right arm to grab the bread loaf with uneven edges for the round skillet with open handle end", + "Place the hand-sized bread block into the skillet with black cooking surface using the right arm", + "Pick the bread with rough texture off the table and place it in the round skillet with open handle end.", + "Take the doughy and soft bread and set it into the flat-bottom skillet", + "Use the right arm to grab the bread loaf with uneven edges and set it in the gray skillet for stovetop cooking.", + "Pick the bread block with light patches and transfer it to the metal skillet with comfortable grip", + "Lift the bread loaf with bumpy surface and drop it into the smooth non-stick skillet.", + "Use the right arm to take the bread loaf with uneven edges and move it into the skillet with black cooking surface.", + "Set the bread block with light patches into the medium-sized frying skillet after grabbing", + "Put the square-shaped bread into the flat-bottom skillet.", + "Take the cuboid bread and place it inside the medium-sized frying skillet", + "Use the right arm to stick the doughy and soft bread into the round skillet with handle.", + "Use the right arm to pick the bread with rough texture and place it into the smooth non-stick skillet.", + "Put the bread block with light patches into the smooth non-stick skillet after grabbing it", + "Take the square-shaped bread and drop it into the black-surfaced skillet with gray sides.", + "Pick up the hand-sized bread block with the right arm and drop it in the skillet for frying food", + "Pick the cuboid bread with the right arm and set it in the metal skillet", + "Use the right arm to set the doughy and soft bread into the flat-bottom skillet.", + "Pick the doughy and soft bread and set it into the black-surfaced skillet with gray sides.", + "Pick up the bread loaf with bumpy surface and place it in the flat-bottom skillet.", + "Grab the golden bread with the right arm and place in the flat-bottom skillet", + "Grab the light golden brown bread using the right arm and place it in the round skillet with handle" + ], + "unseen": [ + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Use the right arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Use the right arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Use the right arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Use the right arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode8.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..a0f90cb8a7f51aed74bdabfa6fff26e57e4efd3e --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the bread with golden surface color with the left arm and drop into the black skillet for frying foods", + "Move the soft golden baked bread into the black iron skillet for cooking from the table", + "Grab the soft golden baked bread and place it inside the black cooking tool skillet.", + "Lift the bread with golden surface color and drop it into the pan-shaped black skillet", + "Place the golden bread into the flat-bottomed black cast iron skillet with the left arm.", + "Use the left arm to pick the golden brown loaf-shaped bread and place it into the black cooking tool skillet.", + "Grab the bread with firm crust edges from the table and set it in the medium skillet with rough outside.", + "Take the bread with firm crust edges and put it in the skillet with sturdy material.", + "Transfer the rectangular bread soft inside into the black skillet with long handle from the table", + "Pick the golden crusted bread slice and transfer it to the black skillet", + "Take the bread with golden surface color and place it inside the medium skillet with rough outside", + "Move the bread with rounded corners from table into the skillet with wide round base", + "Take the golden crusted bread slice and put it in the skillet with looped handle.", + "Pick the square loaf of bread and set it into the medium skillet with rough outside.", + "Use the left arm to place the golden crusted bread slice into the flat-bottomed black cast iron skillet", + "Grab the golden brown loaf-shaped bread and place it inside the skillet with sturdy material", + "Pick the soft golden baked bread with the left arm and set it in the black skillet with long handle", + "Set the golden brown loaf-shaped bread into the skillet with looped handle after grabbing", + "Grab the bread with golden surface color with the left arm and place in the skillet with wide round base", + "Take the golden brown loaf-shaped bread and place it inside the black iron skillet for cooking", + "Lift the bread with firm crust edges and drop it into the heavy cast iron skillet.", + "Use the left arm to move the bread with firm crust edges into the skillet with sturdy material", + "Use the left arm to grab the bread loaf with square shape for the black skillet with long handle", + "Grab the slice-shaped bread using the left arm and place it in the black iron skillet for cooking", + "Use the left arm to move the bread with golden surface color and set it into the black skillet for frying foods.", + "Lift the bread with firm crust edges using the left arm and move it to the black skillet for frying foods", + "Use the left arm to grab the slice-shaped bread for the black skillet with long handle", + "Use the left arm to set the bread with golden surface color into the black iron skillet for cooking.", + "Take the slice-shaped bread off the table into the black skillet", + "Use the left arm to grab the golden crusted bread slice and set it in the black skillet.", + "Grab the bread with firm crust edges and drop it into the skillet with sturdy material", + "Take the soft golden baked bread and drop it into the skillet with sturdy material.", + "Put the rectangular bread soft inside into the black skillet with long handle after grabbing it", + "Pick the brown bread loaf off the table and place it in the flat-bottomed black cast iron skillet.", + "Pick up the soft golden baked bread and place it in the black skillet with long handle.", + "Grab the golden bread and stick it in the skillet with looped handle.", + "Use the left arm to pick the golden brown loaf-shaped bread and put it in the black iron skillet for cooking", + "Pick up the bread with rounded corners and put it in the medium skillet with rough outside", + "Use the left arm to pick the golden brown loaf-shaped bread up for the black skillet", + "Place the bread with rounded corners from the table into the pan-shaped black skillet", + "Place the golden brown loaf-shaped bread into the black iron skillet for cooking using the left arm", + "Move the golden crusted bread slice to the skillet with sturdy material using the left arm", + "Pick up the golden bread with the left arm and drop it in the black cooking tool skillet", + "Use the left arm to stick the bread with golden surface color into the skillet with wide round base.", + "Put the bread with rounded corners into the skillet with looped handle.", + "Take the golden bread and set it into the black skillet for frying foods", + "Use the left arm to pick the golden crusted bread slice for the black iron skillet for cooking", + "Use the left arm to lift the bread with firm crust edges and place it into the medium skillet with rough outside.", + "Pick the square loaf of bread up using the left arm and drop it in the black cooking tool skillet.", + "Use the left arm to take the golden brown loaf-shaped bread and move it into the heavy cast iron skillet.", + "Take the rectangular bread soft inside with the left arm and drop into the medium skillet with rough outside", + "Move the soft golden baked bread into the skillet with sturdy material from the table", + "Grab the bread with rounded corners and place it inside the black skillet for frying foods.", + "Lift the brown bread loaf and drop it into the black skillet", + "Place the bread loaf with square shape into the flat-bottomed black cast iron skillet with the left arm.", + "Use the left arm to pick the bread with golden surface color and place it into the skillet with sturdy material.", + "Grab the bread with firm crust edges from the table and set it in the skillet with sturdy material.", + "Take the soft golden baked bread and put it in the skillet with wide round base.", + "Transfer the bread with rounded corners into the flat-bottomed black cast iron skillet from the table", + "Pick the soft golden baked bread and transfer it to the skillet with sturdy material", + "Take the golden brown loaf-shaped bread and place it inside the medium skillet with rough outside", + "Move the soft golden baked bread from table into the black iron skillet for cooking", + "Take the square loaf of bread and put it in the heavy cast iron skillet.", + "Pick the brown bread loaf and set it into the black skillet with long handle.", + "Use the left arm to place the slice-shaped bread into the flat-bottomed black cast iron skillet", + "Grab the rectangular bread soft inside and place it inside the skillet with looped handle", + "Pick the golden crusted bread slice with the left arm and set it in the skillet with sturdy material", + "Set the rectangular bread soft inside into the pan-shaped black skillet after grabbing", + "Grab the bread loaf with square shape with the left arm and place in the black skillet with long handle", + "Take the golden crusted bread slice and place it inside the black iron skillet for cooking", + "Lift the bread with golden surface color and drop it into the skillet with sturdy material.", + "Use the left arm to move the square loaf of bread into the skillet with sturdy material", + "Use the left arm to grab the soft golden baked bread for the skillet with looped handle", + "Grab the golden crusted bread slice using the left arm and place it in the skillet with wide round base", + "Use the left arm to move the golden crusted bread slice and set it into the skillet with wide round base.", + "Lift the golden bread using the left arm and move it to the medium skillet with rough outside", + "Use the left arm to grab the golden bread for the pan-shaped black skillet", + "Use the left arm to set the rectangular bread soft inside into the flat-bottomed black cast iron skillet.", + "Take the golden brown loaf-shaped bread off the table into the medium skillet with rough outside", + "Use the left arm to grab the bread with firm crust edges and set it in the skillet with sturdy material.", + "Grab the golden crusted bread slice and drop it into the skillet with sturdy material", + "Take the rectangular bread soft inside and drop it into the flat-bottomed black cast iron skillet.", + "Put the golden bread into the black skillet with long handle after grabbing it", + "Pick the brown bread loaf off the table and place it in the skillet with sturdy material.", + "Pick up the bread with golden surface color and place it in the skillet with sturdy material.", + "Grab the bread with golden surface color and stick it in the skillet with looped handle.", + "Use the left arm to pick the rectangular bread soft inside and put it in the heavy cast iron skillet", + "Pick up the brown bread loaf and put it in the black iron skillet for cooking", + "Use the left arm to pick the soft golden baked bread up for the pan-shaped black skillet", + "Place the golden crusted bread slice from the table into the heavy cast iron skillet", + "Place the golden crusted bread slice into the heavy cast iron skillet using the left arm", + "Move the golden crusted bread slice to the black iron skillet for cooking using the left arm", + "Pick up the golden bread with the left arm and drop it in the skillet with wide round base", + "Use the left arm to stick the square loaf of bread into the pan-shaped black skillet.", + "Put the golden bread into the black skillet with long handle.", + "Take the slice-shaped bread and set it into the flat-bottomed black cast iron skillet", + "Use the left arm to pick the soft golden baked bread for the black skillet with long handle", + "Use the left arm to lift the golden crusted bread slice and place it into the skillet with looped handle.", + "Pick the rectangular bread soft inside up using the left arm and drop it in the black cooking tool skillet.", + "Use the left arm to take the golden bread and move it into the black skillet." + ], + "unseen": [ + "Grab the soft rectangular bread loaf and drop it into the smooth interior skillet.", + "Pick up the bread loaf medium-sized and drop it into the smooth interior skillet", + "Use the left arm to grab the soft rectangular bread loaf and set it in the smooth interior skillet", + "Use the left arm to move the bread loaf medium-sized to the round black skillet.", + "Grab the small loaf-shaped bread and place it in the round black skillet", + "Take the small loaf-shaped bread and put it in the smooth interior skillet", + "Grab the small loaf-shaped bread and set it in the round black skillet", + "Grab the small loaf-shaped bread and place it into the smooth interior skillet.", + "Pick the small loaf-shaped bread up and place it in the smooth interior skillet", + "Move the bread loaf medium-sized to the smooth interior skillet using the left arm.", + "Grab the bread loaf medium-sized and drop it into the round black skillet.", + "Pick up the soft rectangular bread loaf and drop it into the smooth interior skillet", + "Use the left arm to grab the soft rectangular bread loaf and set it in the round black skillet", + "Use the left arm to move the small loaf-shaped bread to the medium black frying skillet.", + "Grab the bread loaf medium-sized and place it in the smooth interior skillet", + "Take the bread loaf medium-sized and put it in the medium black frying skillet", + "Grab the bread loaf medium-sized and set it in the round black skillet", + "Grab the bread loaf medium-sized and place it into the smooth interior skillet.", + "Pick the small loaf-shaped bread up and place it in the smooth interior skillet", + "Move the small loaf-shaped bread to the medium black frying skillet using the left arm.", + "Grab the bread loaf medium-sized and drop it into the medium black frying skillet.", + "Pick up the soft rectangular bread loaf and drop it into the round black skillet", + "Use the left arm to grab the small loaf-shaped bread and set it in the round black skillet", + "Use the left arm to move the small loaf-shaped bread to the round black skillet.", + "Grab the bread loaf medium-sized and place it in the smooth interior skillet", + "Take the bread loaf medium-sized and put it in the medium black frying skillet", + "Grab the soft rectangular bread loaf and set it in the medium black frying skillet", + "Grab the bread loaf medium-sized and place it into the round black skillet.", + "Pick the soft rectangular bread loaf up and place it in the smooth interior skillet", + "Move the bread loaf medium-sized to the round black skillet using the left arm.", + "Grab the small loaf-shaped bread and drop it into the medium black frying skillet.", + "Pick up the soft rectangular bread loaf and drop it into the smooth interior skillet", + "Use the left arm to grab the bread loaf medium-sized and set it in the smooth interior skillet", + "Use the left arm to move the soft rectangular bread loaf to the round black skillet.", + "Grab the soft rectangular bread loaf and place it in the smooth interior skillet", + "Take the bread loaf medium-sized and put it in the round black skillet", + "Grab the small loaf-shaped bread and set it in the medium black frying skillet", + "Grab the bread loaf medium-sized and place it into the smooth interior skillet.", + "Pick the bread loaf medium-sized up and place it in the medium black frying skillet", + "Move the soft rectangular bread loaf to the smooth interior skillet using the left arm.", + "Grab the soft rectangular bread loaf and drop it into the medium black frying skillet.", + "Pick up the soft rectangular bread loaf and drop it into the medium black frying skillet", + "Use the left arm to grab the soft rectangular bread loaf and set it in the medium black frying skillet", + "Use the left arm to move the bread loaf medium-sized to the medium black frying skillet.", + "Grab the soft rectangular bread loaf and place it in the medium black frying skillet", + "Take the soft rectangular bread loaf and put it in the round black skillet", + "Grab the bread loaf medium-sized and set it in the smooth interior skillet", + "Grab the soft rectangular bread loaf and place it into the smooth interior skillet.", + "Pick the bread loaf medium-sized up and place it in the medium black frying skillet", + "Move the bread loaf medium-sized to the round black skillet using the left arm.", + "Grab the small loaf-shaped bread and drop it into the round black skillet.", + "Pick up the bread loaf medium-sized and drop it into the medium black frying skillet", + "Use the left arm to grab the soft rectangular bread loaf and set it in the round black skillet", + "Use the left arm to move the small loaf-shaped bread to the smooth interior skillet.", + "Grab the soft rectangular bread loaf and place it in the round black skillet", + "Take the bread loaf medium-sized and put it in the round black skillet", + "Grab the soft rectangular bread loaf and set it in the round black skillet", + "Grab the bread loaf medium-sized and place it into the smooth interior skillet.", + "Pick the bread loaf medium-sized up and place it in the smooth interior skillet", + "Move the soft rectangular bread loaf to the smooth interior skillet using the left arm.", + "Grab the bread loaf medium-sized and drop it into the medium black frying skillet.", + "Pick up the soft rectangular bread loaf and drop it into the medium black frying skillet", + "Use the left arm to grab the small loaf-shaped bread and set it in the round black skillet", + "Use the left arm to move the small loaf-shaped bread to the medium black frying skillet.", + "Grab the bread loaf medium-sized and place it in the medium black frying skillet", + "Take the soft rectangular bread loaf and put it in the round black skillet", + "Grab the small loaf-shaped bread and set it in the smooth interior skillet", + "Grab the soft rectangular bread loaf and place it into the medium black frying skillet.", + "Pick the soft rectangular bread loaf up and place it in the round black skillet", + "Move the bread loaf medium-sized to the medium black frying skillet using the left arm.", + "Grab the small loaf-shaped bread and drop it into the round black skillet.", + "Pick up the soft rectangular bread loaf and drop it into the round black skillet", + "Use the left arm to grab the bread loaf medium-sized and set it in the smooth interior skillet", + "Use the left arm to move the soft rectangular bread loaf to the round black skillet.", + "Grab the bread loaf medium-sized and place it in the round black skillet", + "Take the soft rectangular bread loaf and put it in the medium black frying skillet", + "Grab the soft rectangular bread loaf and set it in the medium black frying skillet", + "Grab the soft rectangular bread loaf and place it into the smooth interior skillet.", + "Pick the bread loaf medium-sized up and place it in the round black skillet", + "Move the soft rectangular bread loaf to the smooth interior skillet using the left arm.", + "Grab the bread loaf medium-sized and drop it into the smooth interior skillet.", + "Pick up the soft rectangular bread loaf and drop it into the smooth interior skillet", + "Use the left arm to grab the small loaf-shaped bread and set it in the medium black frying skillet", + "Use the left arm to move the bread loaf medium-sized to the medium black frying skillet.", + "Grab the bread loaf medium-sized and place it in the smooth interior skillet", + "Take the small loaf-shaped bread and put it in the medium black frying skillet", + "Grab the bread loaf medium-sized and set it in the smooth interior skillet", + "Grab the small loaf-shaped bread and place it into the round black skillet.", + "Pick the soft rectangular bread loaf up and place it in the medium black frying skillet", + "Move the bread loaf medium-sized to the round black skillet using the left arm.", + "Grab the small loaf-shaped bread and drop it into the medium black frying skillet.", + "Pick up the small loaf-shaped bread and drop it into the round black skillet", + "Use the left arm to grab the bread loaf medium-sized and set it in the medium black frying skillet", + "Use the left arm to move the soft rectangular bread loaf to the medium black frying skillet.", + "Grab the small loaf-shaped bread and place it in the round black skillet", + "Take the soft rectangular bread loaf and put it in the medium black frying skillet", + "Grab the soft rectangular bread loaf and set it in the round black skillet", + "Grab the small loaf-shaped bread and place it into the medium black frying skillet.", + "Pick the soft rectangular bread loaf up and place it in the medium black frying skillet", + "Move the small loaf-shaped bread to the round black skillet using the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode9.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..016dc67a8790186d91ca9cc5be4558f193b039cd --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to set the soft brown bread into the black pan with curved edges.", + "Place the bread with split top from the table into the versatile skillet for stovetop cooking", + "Move the hand-sized oval loaf to the smooth round pan made of iron using the right arm", + "Move the bread with warm golden color into the skillet with extended grip handle from the table", + "Use the right arm to stick the bread with split top into the round pan with hole in handle.", + "Take the hand-sized oval loaf and place it inside the black pan with curved edges", + "Move the light brown loaf with smooth sides from table into the round cooking pan", + "Use the right arm to take the bread with split top and move it into the black pan with curved edges.", + "Use the right arm to place the soft brown bread into the smooth round pan made of iron", + "Grab the golden bread loaf using the right arm and place it in the versatile skillet for stovetop cooking", + "Grab the hand-sized oval loaf and stick it in the heavy black cooking skillet.", + "Take the soft brown bread and place it inside the solid dark-colored round pan", + "Set the light brown loaf with smooth sides into the smooth round pan made of iron after grabbing", + "Take the hand-sized oval loaf and put it in the heavy black cooking skillet.", + "Pick the small loaf with curved top off the table and place it in the solid dark-colored round pan.", + "Pick up the golden bread loaf and put it in the smooth round pan made of iron", + "Use the right arm to move the small loaf with curved top and set it into the black skillet with smooth base.", + "Pick the smooth loaf with rounded edges with the right arm and set it in the round pan with hole in handle", + "Put the smooth loaf with rounded edges into the round pan with hole in handle after grabbing it", + "Use the right arm to move the smooth loaf with rounded edges into the skillet with extended grip handle", + "Grab the golden bread loaf and place it inside the dark pan with sturdy grip", + "Lift the soft brown bread and drop it into the round pan with hole in handle", + "Use the right arm to pick the small loaf with curved top for the round pan with hole in handle", + "Pick the bread with split top up using the right arm and drop it in the versatile skillet for stovetop cooking.", + "Pick the soft brown bread and set it into the solid dark-colored round pan.", + "Place the soft brown bread into the versatile skillet for stovetop cooking with the right arm.", + "Take the light brown loaf with smooth sides and drop it into the smooth round pan made of iron.", + "Pick up the brown loaf with the right arm and drop it in the solid dark-colored round pan", + "Use the right arm to pick the golden bread loaf and place it into the medium black pan with handle.", + "Lift the bread with golden-brown crust using the right arm and move it to the black skillet with smooth base", + "Pick the small loaf with curved top and transfer it to the versatile skillet for stovetop cooking", + "Grab the soft brown bread with the right arm and place in the black pan with curved edges", + "Pick up the golden bread loaf and place it in the round cooking pan.", + "Use the right arm to pick the golden bread loaf and put it in the skillet with extended grip handle", + "Take the small golden brown bread with the right arm and drop into the flat-bottomed skillet with long handle", + "Put the smooth loaf with rounded edges into the black skillet with smooth base.", + "Grab the hand-sized oval loaf and drop it into the skillet with extended grip handle", + "Grab the bread with split top and place it inside the dark pan with sturdy grip.", + "Use the right arm to grab the smooth loaf with rounded edges for the solid dark-colored round pan", + "Take the light brown loaf with smooth sides and set it into the medium black pan with handle", + "Place the light brown loaf with smooth sides into the black pan with curved edges using the right arm", + "Use the right arm to lift the small loaf with curved top and place it into the solid dark-colored round pan.", + "Use the right arm to pick the small loaf with curved top up for the solid dark-colored round pan", + "Grab the brown loaf from the table and set it in the smooth round pan made of iron.", + "Take the smooth loaf with rounded edges and put it in the medium black pan with handle.", + "Use the right arm to grab the golden bread loaf and set it in the black pan with curved edges.", + "Transfer the soft brown bread into the heavy black cooking skillet from the table", + "Use the right arm to grab the soft brown bread for the black pan with curved edges", + "Take the brown loaf off the table into the skillet with extended grip handle", + "Lift the bread with split top and drop it into the round cooking pan.", + "Use the right arm to set the bread with golden-brown crust into the medium black pan with handle.", + "Place the smooth loaf with rounded edges from the table into the heavy black cooking skillet", + "Move the hand-sized oval loaf to the dark pan with sturdy grip using the right arm", + "Move the small golden brown bread into the dark pan with sturdy grip from the table", + "Use the right arm to stick the brown loaf into the skillet with extended grip handle.", + "Take the soft brown bread and place it inside the black skillet with smooth base", + "Move the bread with warm golden color from table into the smooth round pan made of iron", + "Use the right arm to take the golden bread loaf and move it into the round cooking pan.", + "Use the right arm to place the small loaf with curved top into the flat-bottomed skillet with long handle", + "Grab the golden bread loaf using the right arm and place it in the flat-bottomed skillet with long handle", + "Grab the smooth loaf with rounded edges and stick it in the flat-bottomed skillet with long handle.", + "Take the small loaf with curved top and place it inside the round pan with hole in handle", + "Set the soft brown bread into the round cooking pan after grabbing", + "Take the bread with warm golden color and put it in the skillet with extended grip handle.", + "Pick the bread with split top off the table and place it in the heavy black cooking skillet.", + "Pick up the hand-sized oval loaf and put it in the skillet with extended grip handle", + "Use the right arm to move the light brown loaf with smooth sides and set it into the round cooking pan.", + "Pick the golden bread loaf with the right arm and set it in the round pan with hole in handle", + "Put the hand-sized oval loaf into the solid dark-colored round pan after grabbing it", + "Use the right arm to move the soft brown bread into the flat-bottomed skillet with long handle", + "Grab the soft brown bread and place it inside the versatile skillet for stovetop cooking", + "Lift the soft brown bread and drop it into the round cooking pan", + "Use the right arm to pick the brown loaf for the black skillet with smooth base", + "Pick the hand-sized oval loaf up using the right arm and drop it in the versatile skillet for stovetop cooking.", + "Pick the smooth loaf with rounded edges and set it into the versatile skillet for stovetop cooking.", + "Place the smooth loaf with rounded edges into the smooth round pan made of iron with the right arm.", + "Take the small loaf with curved top and drop it into the round pan with hole in handle.", + "Pick up the light brown bread with ridges with the right arm and drop it in the solid dark-colored round pan", + "Use the right arm to pick the light brown bread with ridges and place it into the heavy black cooking skillet.", + "Lift the small golden brown bread using the right arm and move it to the medium black pan with handle", + "Pick the brown loaf and transfer it to the skillet with extended grip handle", + "Grab the golden bread loaf with the right arm and place in the flat-bottomed skillet with long handle", + "Pick up the light brown bread with ridges and place it in the versatile skillet for stovetop cooking.", + "Use the right arm to pick the soft brown bread and put it in the smooth round pan made of iron", + "Take the golden bread loaf with the right arm and drop into the black skillet with smooth base", + "Put the smooth loaf with rounded edges into the versatile skillet for stovetop cooking.", + "Grab the brown loaf and drop it into the black skillet with smooth base", + "Grab the soft brown bread and place it inside the round cooking pan.", + "Use the right arm to grab the bread with warm golden color for the black skillet with smooth base", + "Take the light brown loaf with smooth sides and set it into the round cooking pan", + "Place the light brown loaf with smooth sides into the heavy black cooking skillet using the right arm", + "Use the right arm to lift the small golden brown bread and place it into the versatile skillet for stovetop cooking.", + "Use the right arm to pick the soft brown bread up for the dark pan with sturdy grip", + "Grab the golden bread loaf from the table and set it in the round cooking pan.", + "Take the small loaf with curved top and put it in the medium black pan with handle.", + "Use the right arm to grab the light brown loaf with smooth sides and set it in the black pan with curved edges.", + "Transfer the bread with golden-brown crust into the dark pan with sturdy grip from the table", + "Use the right arm to grab the bread with golden-brown crust for the round cooking pan", + "Take the soft brown bread off the table into the round pan with hole in handle", + "Lift the light brown loaf with smooth sides and drop it into the skillet with extended grip handle." + ], + "unseen": [ + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the rounded oval bread to the black skillet.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Grab the oval bread and drop it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the black skillet", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Grab the rounded oval bread and place it in the black skillet", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Take the oval bread and put it in the black skillet", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the black skillet", + "Grab the oval bread and place it into the black skillet.", + "Grab the oval bread and place it in the black skillet", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Grab the rounded oval bread and drop it into the black skillet.", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Grab the rounded oval bread and place it into the black skillet.", + "Grab the rounded oval bread and place it in the black skillet", + "Move the rounded oval bread to the black skillet using the right arm.", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Grab the rounded oval bread and place it into the black skillet.", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Move the rounded oval bread to the black skillet using the right arm.", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Use the right arm to grab the oval bread and set it in the iron skillet for frying foods", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the black skillet", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Take the oval-shaped soft bread and put it in the black skillet", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the black skillet", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Move the oval bread to the black skillet using the right arm.", + "Use the right arm to move the oval bread to the iron skillet for frying foods.", + "Take the oval bread and put it in the black skillet", + "Pick the oval bread up and place it in the black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Grab the oval bread and set it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Grab the rounded oval bread and place it into the black skillet.", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the oval bread to the black skillet.", + "Take the rounded oval bread and put it in the black skillet", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Use the right arm to grab the oval bread and set it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the black skillet.", + "Grab the oval bread and set it in the black skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/scene_info.json b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..1c24e80045dbd076400ce03c91d73454cbfdfe5a --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/franka-panda/meta/scene_info.json @@ -0,0 +1,602 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + 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a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/data/episode9.hdf5 b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/data/episode9.hdf5 new file mode 100644 index 0000000000000000000000000000000000000000..b0b06346c037e5dc0c15138d4eb658abfa639751 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/data/episode9.hdf5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:723f1a5f6512f40fb2631a35c8c49c55ea3be83a3c8674d11289c0e736b8f53c +size 6003638 diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/config.yml b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/config.yml new file mode 100644 index 0000000000000000000000000000000000000000..89ae1e704e528525b290bb3dce2c54c6fd416782 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/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/place_bread_skillet/ur5-wsg/meta/info.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..6c3e9deef8f4df5dfdfe476dc2d54f5fc869b730 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/info.json @@ -0,0 +1,62 @@ +{ + "task": "place_bread_skillet", + "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/place_bread_skillet/ur5-wsg/meta/instructions/episode0.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode0.json new file mode 100644 index 0000000000000000000000000000000000000000..0afa28304e781208090b8a0bdefe00ccfc05b27b --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode0.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the hand-sized oval loaf from the table and set it in the dark pan with sturdy grip.", + "Use the right arm to pick the small loaf with curved top up for the black skillet with smooth base", + "Transfer the light brown loaf with smooth sides into the solid dark-colored round pan from the table", + "Set the bread with warm golden color into the smooth round pan made of iron after grabbing", + "Grab the soft brown bread with the right arm and place in the flat-bottomed skillet with long handle", + "Grab the bread with golden-brown crust and drop it into the black pan with curved edges", + "Lift the bread with split top using the right arm and move it to the black skillet with smooth base", + "Take the bread with split top and put it in the skillet with extended grip handle.", + "Pick the small golden brown bread off the table and place it in the black pan with curved edges.", + "Use the right arm to grab the soft brown bread and set it in the flat-bottomed skillet with long handle.", + "Lift the bread with golden-brown crust and drop it into the skillet with extended grip handle.", + "Use the right arm to move the bread with golden-brown crust into the dark pan with sturdy grip", + "Pick the hand-sized oval loaf and set it into the black pan with curved edges.", + "Take the hand-sized oval loaf and place it inside the round pan with hole in handle", + "Move the small golden brown bread to the heavy black cooking skillet using the right arm", + "Pick the light brown bread with ridges with the right arm and set it in the heavy black cooking skillet", + "Pick up the light brown loaf with smooth sides and place it in the versatile skillet for stovetop cooking.", + "Take the brown loaf and put it in the black pan with curved edges.", + "Grab the hand-sized oval loaf and place it inside the versatile skillet for stovetop cooking.", + "Move the bread with warm golden color from table into the heavy black cooking skillet", + "Use the right arm to take the hand-sized oval loaf and move it into the round cooking pan.", + "Use the right arm to set the bread with warm golden color into the flat-bottomed skillet with long handle.", + "Use the right arm to grab the smooth loaf with rounded edges for the smooth round pan made of iron", + "Take the light brown loaf with smooth sides and place it inside the flat-bottomed skillet with long handle", + "Pick the small loaf with curved top up using the right arm and drop it in the flat-bottomed skillet with long handle.", + "Lift the smooth loaf with rounded edges and drop it into the medium black pan with handle", + "Use the right arm to stick the hand-sized oval loaf into the smooth round pan made of iron.", + "Use the right arm to lift the bread with warm golden color and place it into the round cooking pan.", + "Take the small loaf with curved top and set it into the round pan with hole in handle", + "Place the light brown loaf with smooth sides into the black pan with curved edges with the right arm.", + "Take the smooth loaf with rounded edges with the right arm and drop into the flat-bottomed skillet with long handle", + "Pick up the brown loaf with the right arm and drop it in the solid dark-colored round pan", + "Place the light brown bread with ridges into the solid dark-colored round pan using the right arm", + "Use the right arm to place the smooth loaf with rounded edges into the heavy black cooking skillet", + "Take the golden bread loaf off the table into the medium black pan with handle", + "Use the right arm to move the hand-sized oval loaf and set it into the smooth round pan made of iron.", + "Take the light brown bread with ridges and drop it into the heavy black cooking skillet.", + "Grab the small loaf with curved top and place it inside the medium black pan with handle", + "Pick up the bread with warm golden color and put it in the black skillet with smooth base", + "Pick the light brown bread with ridges and transfer it to the flat-bottomed skillet with long handle", + "Place the brown loaf from the table into the dark pan with sturdy grip", + "Use the right arm to pick the hand-sized oval loaf and put it in the black pan with curved edges", + "Grab the bread with split top using the right arm and place it in the skillet with extended grip handle", + "Put the soft brown bread into the medium black pan with handle.", + "Use the right arm to pick the hand-sized oval loaf for the versatile skillet for stovetop cooking", + "Put the brown loaf into the heavy black cooking skillet after grabbing it", + "Use the right arm to grab the smooth loaf with rounded edges for the smooth round pan made of iron", + "Use the right arm to pick the soft brown bread and place it into the medium black pan with handle.", + "Move the hand-sized oval loaf into the versatile skillet for stovetop cooking from the table", + "Grab the smooth loaf with rounded edges and stick it in the black pan with curved edges.", + "Grab the small golden brown bread from the table and set it in the medium black pan with handle.", + "Use the right arm to pick the bread with golden-brown crust up for the black skillet with smooth base", + "Transfer the soft brown bread into the solid dark-colored round pan from the table", + "Set the bread with warm golden color into the round pan with hole in handle after grabbing", + "Grab the soft brown bread with the right arm and place in the round pan with hole in handle", + "Grab the bread with warm golden color and drop it into the heavy black cooking skillet", + "Lift the light brown bread with ridges using the right arm and move it to the flat-bottomed skillet with long handle", + "Take the bread with split top and put it in the smooth round pan made of iron.", + "Pick the smooth loaf with rounded edges off the table and place it in the black skillet with smooth base.", + "Use the right arm to grab the bread with split top and set it in the medium black pan with handle.", + "Lift the small loaf with curved top and drop it into the black skillet with smooth base.", + "Use the right arm to move the golden bread loaf into the black skillet with smooth base", + "Pick the small loaf with curved top and set it into the smooth round pan made of iron.", + "Take the small loaf with curved top and place it inside the versatile skillet for stovetop cooking", + "Move the light brown bread with ridges to the black skillet with smooth base using the right arm", + "Pick the small golden brown bread with the right arm and set it in the versatile skillet for stovetop cooking", + "Pick up the bread with split top and place it in the versatile skillet for stovetop cooking.", + "Take the soft brown bread and put it in the flat-bottomed skillet with long handle.", + "Grab the small loaf with curved top and place it inside the round pan with hole in handle.", + "Move the small golden brown bread from table into the dark pan with sturdy grip", + "Use the right arm to take the light brown bread with ridges and move it into the round cooking pan.", + "Use the right arm to set the light brown loaf with smooth sides into the versatile skillet for stovetop cooking.", + "Use the right arm to grab the bread with split top for the black pan with curved edges", + "Take the bread with warm golden color and place it inside the medium black pan with handle", + "Pick the hand-sized oval loaf up using the right arm and drop it in the black pan with curved edges.", + "Lift the soft brown bread and drop it into the black pan with curved edges", + "Use the right arm to stick the small loaf with curved top into the smooth round pan made of iron.", + "Use the right arm to lift the small golden brown bread and place it into the black pan with curved edges.", + "Take the bread with split top and set it into the black pan with curved edges", + "Place the small loaf with curved top into the heavy black cooking skillet with the right arm.", + "Take the smooth loaf with rounded edges with the right arm and drop into the dark pan with sturdy grip", + "Pick up the smooth loaf with rounded edges with the right arm and drop it in the dark pan with sturdy grip", + "Place the bread with warm golden color into the solid dark-colored round pan using the right arm", + "Use the right arm to place the light brown loaf with smooth sides into the round pan with hole in handle", + "Take the light brown loaf with smooth sides off the table into the smooth round pan made of iron", + "Use the right arm to move the golden bread loaf and set it into the solid dark-colored round pan.", + "Take the bread with warm golden color and drop it into the dark pan with sturdy grip.", + "Grab the small loaf with curved top and place it inside the heavy black cooking skillet", + "Pick up the light brown bread with ridges and put it in the solid dark-colored round pan", + "Pick the light brown bread with ridges and transfer it to the round pan with hole in handle", + "Place the brown loaf from the table into the flat-bottomed skillet with long handle", + "Use the right arm to pick the bread with warm golden color and put it in the black skillet with smooth base", + "Grab the small loaf with curved top using the right arm and place it in the heavy black cooking skillet", + "Put the small loaf with curved top into the versatile skillet for stovetop cooking.", + "Use the right arm to pick the brown loaf for the versatile skillet for stovetop cooking", + "Put the small golden brown bread into the solid dark-colored round pan after grabbing it", + "Use the right arm to grab the brown loaf for the solid dark-colored round pan", + "Use the right arm to pick the light brown loaf with smooth sides and place it into the dark pan with sturdy grip.", + "Move the bread with split top into the skillet with extended grip handle from the table", + "Grab the small loaf with curved top and stick it in the heavy black cooking skillet." + ], + "unseen": [ + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Pick up the rounded oval bread and drop it into the black skillet", + "Grab the rounded oval bread and place it in the black skillet", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Pick the oval bread up and place it in the black skillet", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Take the oval bread and put it in the round cast-iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Grab the rounded oval bread and drop it into the black skillet.", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Move the oval bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Grab the rounded oval bread and drop it into the black skillet.", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the black skillet", + "Move the rounded oval bread to the black skillet using the right arm.", + "Use the right arm to move the oval bread to the iron skillet for frying foods.", + "Take the oval bread and put it in the round cast-iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Grab the rounded oval bread and place it into the black skillet.", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Grab the rounded oval bread and place it in the black skillet", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Move the oval bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the oval bread to the black skillet.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Use the right arm to grab the oval bread and set it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Grab the oval bread and set it in the round cast-iron skillet", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Grab the oval bread and place it in the black skillet", + "Grab the rounded oval bread and set it in the black skillet", + "Pick the rounded oval bread up and place it in the black skillet", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Take the rounded oval bread and put it in the black skillet", + "Use the right arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Grab the oval bread and drop it into the black skillet.", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Grab the rounded oval bread and set it in the black skillet", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Move the oval bread to the black skillet using the right arm.", + "Use the right arm to move the rounded oval bread to the black skillet.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Grab the rounded oval bread and drop it into the black skillet.", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Pick the oval bread up and place it in the black skillet", + "Move the rounded oval bread to the black skillet using the right arm.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Take the oval-shaped soft bread and put it in the black skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode1.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode1.json new file mode 100644 index 0000000000000000000000000000000000000000..fe22225d2278f208c651ffe3ff9de919ee605b9b --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode1.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to lift the bread with soft texture and place it into the flat-bottom skillet.", + "Pick the medium-sized bread piece up using the left arm and drop it in the black-surfaced skillet with gray sides.", + "Take the sponge-textured golden bread and put it in the black-surfaced skillet with gray sides.", + "Grab the bread with soft texture and place it inside the black-surfaced skillet with gray sides", + "Use the left arm to move the golden baked bread into the round skillet with handle", + "Move the square-shaped bread piece into the skillet for frying food from the table", + "Pick up the square-shaped bread piece and place it in the skillet for frying food.", + "Use the left arm to pick the medium-sized bread piece and place it into the skillet for frying food.", + "Grab the medium-sized bread piece with the left arm and place in the metal skillet with comfortable grip", + "Pick up the fluffy baked bread and put it in the flat-bottom skillet", + "Use the left arm to pick the light brown porous bread for the gray skillet for stovetop cooking", + "Pick the golden brown bread off the table and place it in the dark gray skillet.", + "Use the left arm to set the bread with rounded edges into the flat-bottom skillet.", + "Use the left arm to grab the golden baked bread for the metal skillet", + "Move the square-shaped bread piece to the gray skillet for stovetop cooking using the left arm", + "Lift the square-shaped bread piece using the left arm and move it to the round skillet with handle", + "Transfer the bread with rounded edges into the skillet with black cooking surface from the table", + "Put the bread with soft texture into the smooth non-stick skillet after grabbing it", + "Use the left arm to stick the golden baked bread into the metal skillet with comfortable grip.", + "Pick the bread with soft texture and transfer it to the metal skillet with comfortable grip", + "Use the left arm to grab the golden baked bread and set it in the flat-bottom skillet.", + "Take the bread with rounded edges and put it in the dark gray skillet.", + "Use the left arm to take the rounded square loaf and move it into the metal skillet with comfortable grip.", + "Place the light brown porous bread into the round skillet with handle with the left arm.", + "Take the sponge-textured golden bread and place it inside the dark gray skillet", + "Move the sponge-textured golden bread from table into the flat-bottom skillet", + "Take the medium bread with rounded sides and drop it into the black-surfaced skillet with gray sides.", + "Place the golden baked bread from the table into the gray skillet for stovetop cooking", + "Place the light brown porous bread into the round skillet with open handle end using the left arm", + "Grab the medium-sized bread piece and stick it in the smooth non-stick skillet.", + "Set the rounded square loaf into the metal skillet with comfortable grip after grabbing", + "Pick the fluffy baked bread and set it into the flat-bottom skillet.", + "Pick the rounded square loaf with the left arm and set it in the metal skillet", + "Take the bread with rounded edges with the left arm and drop into the skillet with black cooking surface", + "Use the left arm to move the bread with soft texture and set it into the skillet for frying food.", + "Take the rounded square loaf off the table into the smooth non-stick skillet", + "Use the left arm to place the golden baked bread into the round skillet with handle", + "Grab the medium bread with rounded sides using the left arm and place it in the flat-bottom skillet", + "Use the left arm to pick the golden brown bread and put it in the metal skillet with comfortable grip", + "Grab the soft square bread and place it inside the skillet for frying food.", + "Take the medium-sized bread piece and set it into the black-surfaced skillet with gray sides", + "Use the left arm to pick the golden baked bread up for the dark gray skillet", + "Put the soft square bread into the gray skillet for stovetop cooking.", + "Lift the medium bread with rounded sides and drop it into the metal skillet with comfortable grip", + "Pick up the medium-sized bread piece with the left arm and drop it in the dark gray skillet", + "Take the fluffy baked bread and place it inside the gray skillet for stovetop cooking", + "Use the left arm to grab the rounded square loaf for the metal skillet", + "Grab the medium bread with rounded sides and drop it into the round skillet with open handle end", + "Lift the medium-sized bread piece and drop it into the round skillet with handle.", + "Grab the golden baked bread from the table and set it in the gray skillet for stovetop cooking.", + "Use the left arm to lift the golden baked bread and place it into the round skillet with open handle end.", + "Pick the bread with rounded edges up using the left arm and drop it in the dark gray skillet.", + "Take the light brown porous bread and put it in the gray skillet for stovetop cooking.", + "Grab the fluffy baked bread and place it inside the metal skillet with comfortable grip", + "Use the left arm to move the bread with soft texture into the round skillet with handle", + "Move the light brown porous bread into the dark gray skillet from the table", + "Pick up the medium-sized bread piece and place it in the smooth non-stick skillet.", + "Use the left arm to pick the medium-sized bread piece and place it into the dark gray skillet.", + "Grab the bread with rounded edges with the left arm and place in the metal skillet", + "Pick up the medium bread with rounded sides and put it in the gray skillet for stovetop cooking", + "Use the left arm to pick the medium-sized bread piece for the gray skillet for stovetop cooking", + "Pick the golden baked bread off the table and place it in the round skillet with handle.", + "Use the left arm to set the soft square bread into the skillet for frying food.", + "Use the left arm to grab the bread with soft texture for the flat-bottom skillet", + "Move the fluffy baked bread to the gray skillet for stovetop cooking using the left arm", + "Lift the golden baked bread using the left arm and move it to the metal skillet", + "Transfer the medium bread with rounded sides into the round skillet with open handle end from the table", + "Put the golden brown bread into the dark gray skillet after grabbing it", + "Use the left arm to stick the bread with rounded edges into the round skillet with open handle end.", + "Pick the golden brown bread and transfer it to the round skillet with handle", + "Use the left arm to grab the medium-sized bread piece and set it in the skillet for frying food.", + "Take the bread with soft texture and put it in the skillet for frying food.", + "Use the left arm to take the golden brown bread and move it into the round skillet with handle.", + "Place the fluffy baked bread into the dark gray skillet with the left arm.", + "Take the soft square bread and place it inside the skillet with black cooking surface", + "Move the golden brown bread from table into the black-surfaced skillet with gray sides", + "Take the rounded square loaf and drop it into the smooth non-stick skillet.", + "Place the square-shaped bread piece from the table into the smooth non-stick skillet", + "Place the golden baked bread into the skillet with black cooking surface using the left arm", + "Grab the bread with rounded edges and stick it in the dark gray skillet.", + "Set the bread with rounded edges into the black-surfaced skillet with gray sides after grabbing", + "Pick the square-shaped bread piece and set it into the skillet with black cooking surface.", + "Pick the bread with soft texture with the left arm and set it in the round skillet with handle", + "Take the bread with soft texture with the left arm and drop into the skillet for frying food", + "Use the left arm to move the golden baked bread and set it into the smooth non-stick skillet.", + "Take the bread with rounded edges off the table into the metal skillet with comfortable grip", + "Use the left arm to place the bread with soft texture into the round skillet with handle", + "Grab the bread with soft texture using the left arm and place it in the gray skillet for stovetop cooking", + "Use the left arm to pick the soft square bread and put it in the metal skillet with comfortable grip", + "Grab the bread with rounded edges and place it inside the flat-bottom skillet.", + "Take the square-shaped bread piece and set it into the flat-bottom skillet", + "Use the left arm to pick the square-shaped bread piece up for the flat-bottom skillet", + "Put the medium-sized bread piece into the skillet with black cooking surface.", + "Lift the soft square bread and drop it into the skillet with black cooking surface", + "Pick up the bread with rounded edges with the left arm and drop it in the round skillet with handle", + "Take the rounded square loaf and place it inside the round skillet with handle", + "Use the left arm to grab the bread with soft texture for the smooth non-stick skillet", + "Grab the square-shaped bread piece and drop it into the gray skillet for stovetop cooking", + "Lift the medium bread with rounded sides and drop it into the black-surfaced skillet with gray sides.", + "Grab the light brown porous bread from the table and set it in the black-surfaced skillet with gray sides." + ], + "unseen": [ + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Use the left arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the versatile skillet for frying and sauteing.", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and place it in the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Pick the square bread with light spots up and place it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Take the soft bread with golden edges and put it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Move the soft bread with golden edges to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to move the soft bread with golden edges to the dark skillet with shiny finish.", + "Use the left arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Pick the soft bread with golden edges up and place it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Take the spongy golden brown bread and put it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Move the square bread with light spots to the dark skillet with shiny finish using the left arm.", + "Use the left arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Use the left arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Pick up the square bread with light spots and drop it into the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Move the soft bread with golden edges to the dark skillet with shiny finish using the left arm.", + "Use the left arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Pick up the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Pick the square bread with light spots up and place it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Grab the square bread with light spots and place it in the pan-shaped skillet with hole in handle", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the soft bread with golden edges to the dark skillet with shiny finish.", + "Use the left arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Pick up the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Pick the soft bread with golden edges up and place it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and place it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Use the left arm to grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Pick the square bread with light spots up and place it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Take the spongy golden brown bread and put it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the soft bread with golden edges to the dark skillet with shiny finish.", + "Use the left arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Pick up the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it into the dark skillet with shiny finish.", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and drop it into the versatile skillet for frying and sauteing.", + "Grab the spongy golden brown bread and place it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to move the spongy golden brown bread to the versatile skillet for frying and sauteing.", + "Use the left arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Pick up the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Take the spongy golden brown bread and put it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Take the spongy golden brown bread and put it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode10.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode10.json new file mode 100644 index 0000000000000000000000000000000000000000..b91c41a223790bfeabc225a84e4b7350709e7711 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode10.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to move the light brown bread with ridges into the skillet with extended grip handle", + "Pick up the golden bread loaf and put it in the round pan with hole in handle", + "Use the right arm to pick the soft brown bread and place it into the round pan with hole in handle.", + "Grab the golden bread loaf and drop it into the solid dark-colored round pan", + "Move the hand-sized oval loaf to the versatile skillet for stovetop cooking using the right arm", + "Use the right arm to move the smooth loaf with rounded edges and set it into the heavy black cooking skillet.", + "Take the bread with golden-brown crust and set it into the dark pan with sturdy grip", + "Take the smooth loaf with rounded edges and put it in the heavy black cooking skillet.", + "Pick up the bread with split top with the right arm and drop it in the dark pan with sturdy grip", + "Pick up the small loaf with curved top and place it in the versatile skillet for stovetop cooking.", + "Use the right arm to pick the small loaf with curved top up for the smooth round pan made of iron", + "Take the bread with golden-brown crust off the table into the black pan with curved edges", + "Use the right arm to take the golden bread loaf and move it into the round cooking pan.", + "Use the right arm to grab the bread with split top for the medium black pan with handle", + "Grab the small golden brown bread and place it inside the medium black pan with handle", + "Grab the light brown bread with ridges from the table and set it in the black pan with curved edges.", + "Take the brown loaf and place it inside the solid dark-colored round pan", + "Set the bread with golden-brown crust into the smooth round pan made of iron after grabbing", + "Use the right arm to lift the soft brown bread and place it into the smooth round pan made of iron.", + "Put the small loaf with curved top into the solid dark-colored round pan.", + "Move the brown loaf from table into the versatile skillet for stovetop cooking", + "Lift the bread with warm golden color and drop it into the solid dark-colored round pan", + "Pick the small golden brown bread and set it into the heavy black cooking skillet.", + "Pick the smooth loaf with rounded edges up using the right arm and drop it in the smooth round pan made of iron.", + "Grab the smooth loaf with rounded edges using the right arm and place it in the heavy black cooking skillet", + "Take the small loaf with curved top and put it in the round pan with hole in handle.", + "Use the right arm to stick the small golden brown bread into the flat-bottomed skillet with long handle.", + "Use the right arm to grab the smooth loaf with rounded edges and set it in the black skillet with smooth base.", + "Use the right arm to grab the light brown loaf with smooth sides for the smooth round pan made of iron", + "Use the right arm to pick the small golden brown bread and put it in the heavy black cooking skillet", + "Take the light brown loaf with smooth sides and place it inside the smooth round pan made of iron", + "Take the hand-sized oval loaf with the right arm and drop into the round pan with hole in handle", + "Transfer the light brown loaf with smooth sides into the black pan with curved edges from the table", + "Lift the small golden brown bread using the right arm and move it to the versatile skillet for stovetop cooking", + "Place the light brown loaf with smooth sides from the table into the smooth round pan made of iron", + "Put the brown loaf into the smooth round pan made of iron after grabbing it", + "Place the small golden brown bread into the black skillet with smooth base with the right arm.", + "Move the light brown loaf with smooth sides into the medium black pan with handle from the table", + "Pick the soft brown bread and transfer it to the dark pan with sturdy grip", + "Take the smooth loaf with rounded edges and drop it into the solid dark-colored round pan.", + "Pick the hand-sized oval loaf off the table and place it in the round pan with hole in handle.", + "Grab the small loaf with curved top and stick it in the flat-bottomed skillet with long handle.", + "Grab the light brown loaf with smooth sides and place it inside the versatile skillet for stovetop cooking.", + "Pick the bread with split top with the right arm and set it in the versatile skillet for stovetop cooking", + "Grab the light brown loaf with smooth sides with the right arm and place in the heavy black cooking skillet", + "Use the right arm to set the smooth loaf with rounded edges into the round cooking pan.", + "Lift the golden bread loaf and drop it into the medium black pan with handle.", + "Use the right arm to place the bread with split top into the black skillet with smooth base", + "Use the right arm to pick the bread with warm golden color for the heavy black cooking skillet", + "Place the small golden brown bread into the medium black pan with handle using the right arm", + "Use the right arm to move the smooth loaf with rounded edges into the dark pan with sturdy grip", + "Pick up the bread with warm golden color and put it in the black skillet with smooth base", + "Use the right arm to pick the light brown loaf with smooth sides and place it into the black pan with curved edges.", + "Grab the golden bread loaf and drop it into the black skillet with smooth base", + "Move the bread with split top to the black skillet with smooth base using the right arm", + "Use the right arm to move the light brown loaf with smooth sides and set it into the dark pan with sturdy grip.", + "Take the soft brown bread and set it into the round cooking pan", + "Take the bread with warm golden color and put it in the medium black pan with handle.", + "Pick up the light brown loaf with smooth sides with the right arm and drop it in the flat-bottomed skillet with long handle", + "Pick up the brown loaf and place it in the skillet with extended grip handle.", + "Use the right arm to pick the light brown loaf with smooth sides up for the versatile skillet for stovetop cooking", + "Take the bread with split top off the table into the black pan with curved edges", + "Use the right arm to take the soft brown bread and move it into the round cooking pan.", + "Use the right arm to grab the small loaf with curved top for the black pan with curved edges", + "Grab the hand-sized oval loaf and place it inside the smooth round pan made of iron", + "Grab the smooth loaf with rounded edges from the table and set it in the round pan with hole in handle.", + "Take the bread with golden-brown crust and place it inside the heavy black cooking skillet", + "Set the brown loaf into the dark pan with sturdy grip after grabbing", + "Use the right arm to lift the light brown loaf with smooth sides and place it into the round cooking pan.", + "Put the soft brown bread into the round pan with hole in handle.", + "Move the light brown loaf with smooth sides from table into the dark pan with sturdy grip", + "Lift the small golden brown bread and drop it into the heavy black cooking skillet", + "Pick the light brown bread with ridges and set it into the versatile skillet for stovetop cooking.", + "Pick the small golden brown bread up using the right arm and drop it in the skillet with extended grip handle.", + "Grab the golden bread loaf using the right arm and place it in the skillet with extended grip handle", + "Take the light brown loaf with smooth sides and put it in the solid dark-colored round pan.", + "Use the right arm to stick the brown loaf into the black pan with curved edges.", + "Use the right arm to grab the smooth loaf with rounded edges and set it in the solid dark-colored round pan.", + "Use the right arm to grab the bread with warm golden color for the heavy black cooking skillet", + "Use the right arm to pick the light brown loaf with smooth sides and put it in the skillet with extended grip handle", + "Take the light brown loaf with smooth sides and place it inside the medium black pan with handle", + "Take the smooth loaf with rounded edges with the right arm and drop into the smooth round pan made of iron", + "Transfer the small golden brown bread into the medium black pan with handle from the table", + "Lift the smooth loaf with rounded edges using the right arm and move it to the dark pan with sturdy grip", + "Place the bread with golden-brown crust from the table into the round cooking pan", + "Put the hand-sized oval loaf into the heavy black cooking skillet after grabbing it", + "Place the bread with split top into the solid dark-colored round pan with the right arm.", + "Move the hand-sized oval loaf into the round pan with hole in handle from the table", + "Pick the soft brown bread and transfer it to the dark pan with sturdy grip", + "Take the brown loaf and drop it into the dark pan with sturdy grip.", + "Pick the bread with warm golden color off the table and place it in the medium black pan with handle.", + "Grab the bread with split top and stick it in the solid dark-colored round pan.", + "Grab the brown loaf and place it inside the round cooking pan.", + "Pick the light brown bread with ridges with the right arm and set it in the dark pan with sturdy grip", + "Grab the hand-sized oval loaf with the right arm and place in the versatile skillet for stovetop cooking", + "Use the right arm to set the small golden brown bread into the black pan with curved edges.", + "Lift the hand-sized oval loaf and drop it into the black skillet with smooth base.", + "Use the right arm to place the light brown loaf with smooth sides into the round cooking pan", + "Use the right arm to pick the light brown bread with ridges for the flat-bottomed skillet with long handle", + "Place the golden bread loaf into the skillet with extended grip handle using the right arm" + ], + "unseen": [ + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Take the rounded oval bread and put it in the black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the black skillet.", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Take the oval bread and put it in the round cast-iron skillet", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the black skillet.", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Pick the oval bread up and place it in the black skillet", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Grab the oval bread and place it into the black skillet.", + "Take the oval bread and put it in the round cast-iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Pick up the rounded oval bread and drop it into the black skillet", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Grab the rounded oval bread and place it in the black skillet", + "Grab the rounded oval bread and drop it into the black skillet.", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Pick the oval bread up and place it in the black skillet", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Take the oval bread and put it in the black skillet", + "Use the right arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Use the right arm to move the oval bread to the black skillet.", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Grab the rounded oval bread and drop it into the black skillet.", + "Move the oval bread to the black skillet using the right arm.", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it into the black skillet.", + "Take the oval-shaped soft bread and put it in the black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Pick up the oval bread and drop it into the black skillet", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Grab the rounded oval bread and place it into the black skillet.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the black skillet", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Move the oval bread to the round cast-iron skillet using the right arm.", + "Pick the rounded oval bread up and place it in the black skillet", + "Grab the oval bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Grab the oval bread and set it in the black skillet", + "Grab the oval bread and place it into the black skillet.", + "Take the oval-shaped soft bread and put it in the black skillet", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Take the oval bread and put it in the iron skillet for frying foods", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Use the right arm to move the rounded oval bread to the black skillet.", + "Grab the rounded oval bread and place it in the black skillet", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Grab the rounded oval bread and place it into the black skillet.", + "Take the oval bread and put it in the iron skillet for frying foods", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Use the right arm to move the rounded oval bread to the black skillet.", + "Grab the rounded oval bread and place it in the black skillet", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Move the oval bread to the black skillet using the right arm.", + "Pick the oval bread up and place it in the iron skillet for frying foods" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode11.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode11.json new file mode 100644 index 0000000000000000000000000000000000000000..5aaded7dbd92741c8e1dde31f56f2312c8afe760 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode11.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the soft bread and place it inside the black skillet with smooth base.", + "Pick the light golden brown bread with the right arm and set it in the smooth round pan made of iron", + "Take the bread loaf with uneven edges and place it inside the versatile skillet for stovetop cooking", + "Transfer the golden bread into the smooth round pan made of iron from the table", + "Lift the soft bread and drop it into the smooth round pan made of iron.", + "Use the right arm to place the square-shaped bread into the black skillet with smooth base", + "Lift the bread loaf with uneven edges using the right arm and move it to the flat-bottomed skillet with long handle", + "Grab the doughy and soft bread and drop it into the black pan with curved edges", + "Use the right arm to take the doughy and soft bread and move it into the round pan with hole in handle.", + "Use the right arm to grab the golden bread for the round cooking pan", + "Move the golden bread into the dark pan with sturdy grip from the table", + "Take the cuboid bread and put it in the flat-bottomed skillet with long handle.", + "Put the light golden brown bread into the versatile skillet for stovetop cooking after grabbing it", + "Pick the soft bread and transfer it to the smooth round pan made of iron", + "Take the bread with rough texture and place it inside the black skillet with smooth base", + "Pick the bread block with light patches and set it into the black pan with curved edges.", + "Take the bread block with light patches and drop it into the versatile skillet for stovetop cooking.", + "Use the right arm to lift the square-shaped bread and place it into the heavy black cooking skillet.", + "Move the doughy and soft bread from table into the heavy black cooking skillet", + "Take the bread loaf with uneven edges and put it in the flat-bottomed skillet with long handle.", + "Lift the light golden brown bread and drop it into the skillet with extended grip handle", + "Pick up the golden bread with the right arm and drop it in the round pan with hole in handle", + "Use the right arm to move the cuboid bread and set it into the dark pan with sturdy grip.", + "Take the light golden brown bread and set it into the flat-bottomed skillet with long handle", + "Move the bread block with light patches to the dark pan with sturdy grip using the right arm", + "Use the right arm to move the bread block with light patches into the skillet with extended grip handle", + "Use the right arm to grab the light golden brown bread for the round cooking pan", + "Grab the bread block with light patches with the right arm and place in the flat-bottomed skillet with long handle", + "Use the right arm to grab the bread loaf with uneven edges and set it in the black skillet with smooth base.", + "Pick the bread block with light patches off the table and place it in the heavy black cooking skillet.", + "Take the hand-sized bread block with the right arm and drop into the flat-bottomed skillet with long handle", + "Place the soft bread from the table into the skillet with extended grip handle", + "Pick up the bread block with light patches and put it in the solid dark-colored round pan", + "Use the right arm to stick the bread loaf with bumpy surface into the round cooking pan.", + "Use the right arm to pick the bread loaf with uneven edges up for the medium black pan with handle", + "Place the bread block with light patches into the round pan with hole in handle using the right arm", + "Use the right arm to pick the hand-sized bread block and put it in the medium black pan with handle", + "Grab the bread loaf with uneven edges and stick it in the versatile skillet for stovetop cooking.", + "Pick the doughy and soft bread up using the right arm and drop it in the black pan with curved edges.", + "Grab the light golden brown bread from the table and set it in the medium black pan with handle.", + "Grab the bread loaf with uneven edges using the right arm and place it in the versatile skillet for stovetop cooking", + "Use the right arm to pick the square-shaped bread for the heavy black cooking skillet", + "Use the right arm to pick the bread loaf with bumpy surface and place it into the round cooking pan.", + "Pick up the soft bread and place it in the black skillet with smooth base.", + "Grab the bread with rough texture and place it inside the solid dark-colored round pan", + "Place the bread block with light patches into the skillet with extended grip handle with the right arm.", + "Put the bread with rough texture into the round cooking pan.", + "Use the right arm to set the cuboid bread into the round cooking pan.", + "Take the doughy and soft bread off the table into the black pan with curved edges", + "Set the doughy and soft bread into the black skillet with smooth base after grabbing", + "Grab the bread with rough texture and place it inside the heavy black cooking skillet.", + "Pick the cuboid bread with the right arm and set it in the black pan with curved edges", + "Take the golden bread loaf and place it inside the dark pan with sturdy grip", + "Transfer the bread loaf with bumpy surface into the round cooking pan from the table", + "Lift the bread loaf with uneven edges and drop it into the black pan with curved edges.", + "Use the right arm to place the bread loaf with bumpy surface into the flat-bottomed skillet with long handle", + "Lift the hand-sized bread block using the right arm and move it to the skillet with extended grip handle", + "Grab the golden bread loaf and drop it into the flat-bottomed skillet with long handle", + "Use the right arm to take the bread loaf with uneven edges and move it into the solid dark-colored round pan.", + "Use the right arm to grab the bread with rough texture for the round pan with hole in handle", + "Move the bread loaf with uneven edges into the black skillet with smooth base from the table", + "Take the bread loaf with bumpy surface and put it in the solid dark-colored round pan.", + "Put the hand-sized bread block into the skillet with extended grip handle after grabbing it", + "Pick the doughy and soft bread and transfer it to the black skillet with smooth base", + "Take the bread loaf with uneven edges and place it inside the dark pan with sturdy grip", + "Pick the bread with rough texture and set it into the round pan with hole in handle.", + "Take the light golden brown bread and drop it into the round cooking pan.", + "Use the right arm to lift the bread with rough texture and place it into the black pan with curved edges.", + "Move the bread loaf with uneven edges from table into the skillet with extended grip handle", + "Take the doughy and soft bread and put it in the smooth round pan made of iron.", + "Lift the light golden brown bread and drop it into the black pan with curved edges", + "Pick up the square-shaped bread with the right arm and drop it in the black pan with curved edges", + "Use the right arm to move the bread block with light patches and set it into the heavy black cooking skillet.", + "Take the doughy and soft bread and set it into the heavy black cooking skillet", + "Move the square-shaped bread to the solid dark-colored round pan using the right arm", + "Use the right arm to move the doughy and soft bread into the skillet with extended grip handle", + "Use the right arm to grab the bread block with light patches for the medium black pan with handle", + "Grab the bread with rough texture with the right arm and place in the solid dark-colored round pan", + "Use the right arm to grab the bread loaf with uneven edges and set it in the black skillet with smooth base.", + "Pick the cuboid bread off the table and place it in the flat-bottomed skillet with long handle.", + "Take the bread block with light patches with the right arm and drop into the black pan with curved edges", + "Place the bread block with light patches from the table into the heavy black cooking skillet", + "Pick up the bread loaf with bumpy surface and put it in the medium black pan with handle", + "Use the right arm to stick the light golden brown bread into the versatile skillet for stovetop cooking.", + "Use the right arm to pick the bread block with light patches up for the flat-bottomed skillet with long handle", + "Place the bread block with light patches into the round pan with hole in handle using the right arm", + "Use the right arm to pick the soft bread and put it in the black skillet with smooth base", + "Grab the doughy and soft bread and stick it in the medium black pan with handle.", + "Pick the golden bread loaf up using the right arm and drop it in the flat-bottomed skillet with long handle.", + "Grab the doughy and soft bread from the table and set it in the flat-bottomed skillet with long handle.", + "Grab the cuboid bread using the right arm and place it in the smooth round pan made of iron", + "Use the right arm to pick the golden bread for the black pan with curved edges", + "Use the right arm to pick the bread block with light patches and place it into the dark pan with sturdy grip.", + "Pick up the soft bread and place it in the round pan with hole in handle.", + "Grab the soft bread and place it inside the round cooking pan", + "Place the soft bread into the smooth round pan made of iron with the right arm.", + "Put the golden bread loaf into the black skillet with smooth base.", + "Use the right arm to set the golden bread loaf into the black skillet with smooth base.", + "Take the bread loaf with bumpy surface off the table into the round pan with hole in handle", + "Set the golden bread into the round pan with hole in handle after grabbing" + ], + "unseen": [ + "Use the right arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Take the rectangular bread loaf and put it in the black skillet", + "Move the bread loaf with soft surface to the iron skillet for frying foods using the right arm.", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Use the right arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and set it in the black skillet", + "Pick up the bread loaf with soft surface and drop it into the round cast-iron skillet", + "Use the right arm to move the rectangular bread loaf to the black skillet.", + "Grab the bread loaf with soft surface and drop it into the round cast-iron skillet.", + "Take the bread with golden crust and put it in the round cast-iron skillet", + "Move the bread with golden crust to the black skillet using the right arm.", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Grab the rectangular bread loaf and place it in the round cast-iron skillet", + "Use the right arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Pick the bread loaf with soft surface up and place it in the black skillet", + "Grab the bread with golden crust and set it in the black skillet", + "Pick up the bread with golden crust and drop it into the black skillet", + "Use the right arm to move the rectangular bread loaf to the black skillet.", + "Grab the bread with golden crust and drop it into the black skillet.", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Move the rectangular bread loaf to the iron skillet for frying foods using the right arm.", + "Grab the bread with golden crust and place it into the round cast-iron skillet.", + "Grab the bread with golden crust and place it in the black skillet", + "Use the right arm to grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Pick up the bread loaf with soft surface and drop it into the round cast-iron skillet", + "Use the right arm to move the bread loaf with soft surface to the iron skillet for frying foods.", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Take the bread loaf with soft surface and put it in the black skillet", + "Move the rectangular bread loaf to the round cast-iron skillet using the right arm.", + "Grab the bread with golden crust and place it into the black skillet.", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Use the right arm to grab the bread with golden crust and set it in the black skillet", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and set it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Use the right arm to move the bread with golden crust to the black skillet.", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Take the bread with golden crust and put it in the round cast-iron skillet", + "Move the rectangular bread loaf to the black skillet using the right arm.", + "Grab the bread with golden crust and place it into the black skillet.", + "Grab the bread loaf with soft surface and place it in the iron skillet for frying foods", + "Use the right arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Use the right arm to move the rectangular bread loaf to the black skillet.", + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Take the bread with golden crust and put it in the black skillet", + "Move the bread with golden crust to the black skillet using the right arm.", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Grab the rectangular bread loaf and place it in the round cast-iron skillet", + "Use the right arm to grab the rectangular bread loaf and set it in the black skillet", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Grab the bread loaf with soft surface and set it in the black skillet", + "Pick up the bread loaf with soft surface and drop it into the round cast-iron skillet", + "Use the right arm to move the bread with golden crust to the black skillet.", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Take the rectangular bread loaf and put it in the black skillet", + "Move the bread with golden crust to the round cast-iron skillet using the right arm.", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Grab the rectangular bread loaf and place it in the black skillet", + "Use the right arm to grab the bread with golden crust and set it in the black skillet", + "Pick the bread loaf with soft surface up and place it in the black skillet", + "Grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the round cast-iron skillet", + "Use the right arm to move the bread loaf with soft surface to the black skillet.", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Move the bread with golden crust to the round cast-iron skillet using the right arm.", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Grab the rectangular bread loaf and place it in the black skillet", + "Use the right arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Use the right arm to move the rectangular bread loaf to the black skillet.", + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Take the bread loaf with soft surface and put it in the black skillet", + "Move the rectangular bread loaf to the black skillet using the right arm.", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Use the right arm to grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the rectangular bread loaf and set it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Use the right arm to move the bread with golden crust to the iron skillet for frying foods.", + "Grab the bread loaf with soft surface and drop it into the round cast-iron skillet.", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Move the bread with golden crust to the iron skillet for frying foods using the right arm.", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Use the right arm to grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and set it in the black skillet", + "Pick up the bread loaf with soft surface and drop it into the black skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode12.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode12.json new file mode 100644 index 0000000000000000000000000000000000000000..9b1a3832b6fc6c38eb853b04fef0f9ecd9646756 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode12.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the golden bread loaf with the left arm and place in the gray pan", + "Put the light brown bread with ridges into the medium round cast iron skillet after grabbing it", + "Pick up the hand-sized oval loaf and place it in the pan with dark finish.", + "Grab the hand-sized oval loaf and drop it into the dark gray skillet", + "Grab the light brown loaf with smooth sides and place it inside the skillet for cooking.", + "Place the bread with split top from the table into the gray pan", + "Pick the small golden brown bread and transfer it to the medium skillet", + "Grab the small loaf with curved top using the left arm and place it in the dark gray skillet", + "Use the left arm to pick the soft brown bread and put it in the skillet for cooking", + "Place the light brown loaf with smooth sides into the round skillet with handle with the left arm.", + "Use the left arm to grab the smooth loaf with rounded edges for the pan with dark finish", + "Move the light brown bread with ridges into the hefty black skillet from the table", + "Pick the bread with warm golden color up using the left arm and drop it in the gray pan.", + "Use the left arm to lift the bread with golden-brown crust and place it into the round skillet with handle.", + "Use the left arm to set the soft brown bread into the dark gray skillet.", + "Use the left arm to grab the hand-sized oval loaf for the hefty black skillet", + "Lift the golden bread loaf using the left arm and move it to the hefty black skillet", + "Take the light brown loaf with smooth sides and put it in the rounded skillet with a holey handle.", + "Use the left arm to move the bread with split top into the medium round cast iron skillet", + "Take the bread with warm golden color and set it into the hefty black skillet", + "Pick the smooth loaf with rounded edges with the left arm and set it in the pan with dark finish", + "Take the light brown loaf with smooth sides off the table into the medium skillet", + "Set the bread with split top into the hefty black skillet after grabbing", + "Take the soft brown bread and place it inside the smooth round cooking skillet", + "Lift the smooth loaf with rounded edges and drop it into the gray pan", + "Grab the bread with split top and stick it in the dark gray skillet.", + "Use the left arm to grab the bread with golden-brown crust and set it in the smooth round cooking skillet.", + "Put the light brown bread with ridges into the skillet for cooking.", + "Take the light brown loaf with smooth sides and put it in the skillet for cooking.", + "Move the hand-sized oval loaf from table into the round skillet with handle", + "Use the left arm to move the soft brown bread and set it into the pan with dark finish.", + "Pick the golden bread loaf off the table and place it in the gray pan.", + "Move the golden bread loaf to the hefty black skillet using the left arm", + "Pick the bread with warm golden color and set it into the skillet for cooking.", + "Use the left arm to pick the brown loaf and place it into the medium round cast iron skillet.", + "Take the soft brown bread and place it inside the pan with dark finish", + "Use the left arm to take the soft brown bread and move it into the rounded skillet with a holey handle.", + "Use the left arm to pick the brown loaf for the dark gray skillet", + "Take the hand-sized oval loaf with the left arm and drop into the pan with dark finish", + "Grab the small golden brown bread and place it inside the medium skillet", + "Lift the hand-sized oval loaf and drop it into the hefty black skillet.", + "Use the left arm to place the brown loaf into the round skillet with handle", + "Take the golden bread loaf and drop it into the dark gray skillet.", + "Transfer the light brown loaf with smooth sides into the skillet for cooking from the table", + "Pick up the light brown loaf with smooth sides with the left arm and drop it in the gray cooking pan with handle", + "Use the left arm to pick the bread with warm golden color up for the smooth cast iron skillet", + "Place the small loaf with curved top into the round skillet with handle using the left arm", + "Use the left arm to stick the golden bread loaf into the skillet for cooking.", + "Pick up the golden bread loaf and put it in the round skillet with handle", + "Grab the brown loaf from the table and set it in the pan with dark finish.", + "Grab the small golden brown bread with the left arm and place in the gray cooking pan with handle", + "Put the light brown bread with ridges into the dark gray skillet after grabbing it", + "Pick up the brown loaf and place it in the gray pan.", + "Grab the bread with golden-brown crust and drop it into the skillet for cooking", + "Grab the bread with golden-brown crust and place it inside the hefty black skillet.", + "Place the small loaf with curved top from the table into the dark gray skillet", + "Pick the light brown bread with ridges and transfer it to the smooth round cooking skillet", + "Grab the golden bread loaf using the left arm and place it in the gray cooking pan with handle", + "Use the left arm to pick the smooth loaf with rounded edges and put it in the pan with dark finish", + "Place the small golden brown bread into the gray cooking pan with handle with the left arm.", + "Use the left arm to grab the bread with warm golden color for the hefty black skillet", + "Move the bread with golden-brown crust into the gray cooking pan with handle from the table", + "Pick the smooth loaf with rounded edges up using the left arm and drop it in the dark gray skillet.", + "Use the left arm to lift the light brown bread with ridges and place it into the gray pan.", + "Use the left arm to set the bread with split top into the pan with dark finish.", + "Use the left arm to grab the light brown bread with ridges for the rounded skillet with a holey handle", + "Lift the smooth loaf with rounded edges using the left arm and move it to the gray pan", + "Take the light brown bread with ridges and put it in the gray cooking pan with handle.", + "Use the left arm to move the soft brown bread into the gray cooking pan with handle", + "Take the smooth loaf with rounded edges and set it into the skillet for cooking", + "Pick the golden bread loaf with the left arm and set it in the dark gray skillet", + "Take the small golden brown bread off the table into the round skillet with handle", + "Set the light brown bread with ridges into the dark gray skillet after grabbing", + "Take the brown loaf and place it inside the hefty black skillet", + "Lift the light brown loaf with smooth sides and drop it into the smooth cast iron skillet", + "Grab the bread with warm golden color and stick it in the medium round cast iron skillet.", + "Use the left arm to grab the bread with split top and set it in the round skillet with handle.", + "Put the bread with split top into the smooth cast iron skillet.", + "Take the light brown loaf with smooth sides and put it in the medium skillet.", + "Move the bread with warm golden color from table into the pan with dark finish", + "Use the left arm to move the bread with split top and set it into the medium round cast iron skillet.", + "Pick the light brown loaf with smooth sides off the table and place it in the gray pan.", + "Move the golden bread loaf to the gray pan using the left arm", + "Pick the golden bread loaf and set it into the hefty black skillet.", + "Use the left arm to pick the bread with warm golden color and place it into the skillet for cooking.", + "Take the small golden brown bread and place it inside the round skillet with handle", + "Use the left arm to take the bread with split top and move it into the medium skillet.", + "Use the left arm to pick the bread with split top for the gray pan", + "Take the light brown bread with ridges with the left arm and drop into the gray pan", + "Grab the light brown loaf with smooth sides and place it inside the hefty black skillet", + "Lift the smooth loaf with rounded edges and drop it into the pan with dark finish.", + "Use the left arm to place the bread with warm golden color into the pan with dark finish", + "Take the soft brown bread and drop it into the medium skillet.", + "Transfer the bread with golden-brown crust into the dark gray skillet from the table", + "Pick up the golden bread loaf with the left arm and drop it in the smooth cast iron skillet", + "Use the left arm to pick the golden bread loaf up for the smooth cast iron skillet", + "Place the bread with split top into the dark gray skillet using the left arm", + "Use the left arm to stick the light brown loaf with smooth sides into the medium round cast iron skillet.", + "Pick up the bread with golden-brown crust and put it in the hefty black skillet", + "Grab the small loaf with curved top from the table and set it in the medium round cast iron skillet." + ], + "unseen": [ + "Grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Use the left arm to move the rounded oval bread to the dark gray round cast iron pan.", + "Grab the rounded oval bread and place it into the cooking skillet with grippy handle.", + "Pick up the rounded oval bread and drop it into the blackish-gray cast iron skillet", + "Use the left arm to grab the oval bread and set it in the cooking skillet with grippy handle", + "Grab the oval bread and drop it into the blackish-gray cast iron skillet.", + "Move the rounded oval bread to the blackish-gray cast iron skillet using the left arm.", + "Grab the rounded oval bread and place it in the blackish-gray cast iron skillet", + "Pick the oval-shaped soft bread up and place it in the cooking skillet with grippy handle", + "Take the oval-shaped soft bread and put it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Use the left arm to move the oval bread to the blackish-gray cast iron skillet.", + "Grab the rounded oval bread and place it into the cooking skillet with grippy handle.", + "Pick up the rounded oval bread and drop it into the dark gray round cast iron pan", + "Use the left arm to grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Grab the oval bread and drop it into the dark gray round cast iron pan.", + "Move the rounded oval bread to the cooking skillet with grippy handle using the left arm.", + "Grab the rounded oval bread and place it in the dark gray round cast iron pan", + "Pick the rounded oval bread up and place it in the cooking skillet with grippy handle", + "Take the oval bread and put it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Use the left arm to move the oval-shaped soft bread to the dark gray round cast iron pan.", + "Grab the oval bread and place it into the dark gray round cast iron pan.", + "Pick up the oval bread and drop it into the cooking skillet with grippy handle", + "Use the left arm to grab the oval bread and set it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and drop it into the cooking skillet with grippy handle.", + "Move the oval-shaped soft bread to the blackish-gray cast iron skillet using the left arm.", + "Grab the oval-shaped soft bread and place it in the cooking skillet with grippy handle", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Take the oval-shaped soft bread and put it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Use the left arm to move the oval bread to the blackish-gray cast iron skillet.", + "Grab the oval-shaped soft bread and place it into the blackish-gray cast iron skillet.", + "Pick up the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet", + "Use the left arm to grab the oval-shaped soft bread and set it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and drop it into the cooking skillet with grippy handle.", + "Move the oval-shaped soft bread to the blackish-gray cast iron skillet using the left arm.", + "Grab the rounded oval bread and place it in the cooking skillet with grippy handle", + "Pick the oval bread up and place it in the dark gray round cast iron pan", + "Take the oval-shaped soft bread and put it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and set it in the dark gray round cast iron pan", + "Use the left arm to move the oval bread to the blackish-gray cast iron skillet.", + "Grab the rounded oval bread and place it into the blackish-gray cast iron skillet.", + "Pick up the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet", + "Use the left arm to grab the oval bread and set it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and drop it into the blackish-gray cast iron skillet.", + "Move the oval-shaped soft bread to the dark gray round cast iron pan using the left arm.", + "Grab the oval-shaped soft bread and place it in the cooking skillet with grippy handle", + "Pick the rounded oval bread up and place it in the dark gray round cast iron pan", + "Take the oval-shaped soft bread and put it in the cooking skillet with grippy handle", + "Grab the oval bread and set it in the blackish-gray cast iron skillet", + "Use the left arm to move the oval bread to the dark gray round cast iron pan.", + "Grab the rounded oval bread and place it into the cooking skillet with grippy handle.", + "Pick up the rounded oval bread and drop it into the dark gray round cast iron pan", + "Use the left arm to grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Grab the oval bread and drop it into the blackish-gray cast iron skillet.", + "Move the rounded oval bread to the dark gray round cast iron pan using the left arm.", + "Grab the oval-shaped soft bread and place it in the dark gray round cast iron pan", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Take the oval bread and put it in the cooking skillet with grippy handle", + "Grab the oval bread and set it in the dark gray round cast iron pan", + "Use the left arm to move the oval bread to the blackish-gray cast iron skillet.", + "Grab the rounded oval bread and place it into the blackish-gray cast iron skillet.", + "Pick up the rounded oval bread and drop it into the dark gray round cast iron pan", + "Use the left arm to grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Grab the oval bread and drop it into the dark gray round cast iron pan.", + "Move the oval bread to the blackish-gray cast iron skillet using the left arm.", + "Grab the oval-shaped soft bread and place it in the blackish-gray cast iron skillet", + "Pick the oval-shaped soft bread up and place it in the blackish-gray cast iron skillet", + "Take the oval-shaped soft bread and put it in the cooking skillet with grippy handle", + "Grab the oval bread and set it in the dark gray round cast iron pan", + "Use the left arm to move the oval-shaped soft bread to the blackish-gray cast iron skillet.", + "Grab the rounded oval bread and place it into the cooking skillet with grippy handle.", + "Pick up the rounded oval bread and drop it into the dark gray round cast iron pan", + "Use the left arm to grab the oval bread and set it in the dark gray round cast iron pan", + "Grab the oval bread and drop it into the cooking skillet with grippy handle.", + "Move the rounded oval bread to the blackish-gray cast iron skillet using the left arm.", + "Grab the rounded oval bread and place it in the cooking skillet with grippy handle", + "Pick the oval-shaped soft bread up and place it in the dark gray round cast iron pan", + "Take the rounded oval bread and put it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Use the left arm to move the oval bread to the dark gray round cast iron pan.", + "Grab the oval-shaped soft bread and place it into the blackish-gray cast iron skillet.", + "Pick up the oval bread and drop it into the dark gray round cast iron pan", + "Use the left arm to grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Grab the oval bread and drop it into the dark gray round cast iron pan.", + "Move the rounded oval bread to the dark gray round cast iron pan using the left arm.", + "Grab the oval-shaped soft bread and place it in the dark gray round cast iron pan", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Take the rounded oval bread and put it in the dark gray round cast iron pan", + "Grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Use the left arm to move the rounded oval bread to the dark gray round cast iron pan.", + "Grab the rounded oval bread and place it into the dark gray round cast iron pan.", + "Pick up the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet", + "Use the left arm to grab the oval bread and set it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and drop it into the dark gray round cast iron pan.", + "Move the oval-shaped soft bread to the cooking skillet with grippy handle using the left arm.", + "Grab the oval bread and place it in the dark gray round cast iron pan", + "Pick the rounded oval bread up and place it in the blackish-gray cast iron skillet", + "Take the oval-shaped soft bread and put it in the dark gray round cast iron pan" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode13.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode13.json new file mode 100644 index 0000000000000000000000000000000000000000..b17e0930323197fda06bcd15acd34a8f0da682d9 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode13.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the soft square bread into the skillet for frying food after grabbing", + "Take the square-shaped bread piece with the left arm and drop into the black-surfaced skillet with gray sides", + "Use the left arm to pick the medium-sized bread piece up for the smooth non-stick skillet", + "Grab the golden brown bread and place it inside the flat-bottom skillet", + "Place the soft square bread into the metal skillet with the left arm.", + "Grab the light brown porous bread from the table and set it in the black-surfaced skillet with gray sides.", + "Take the fluffy baked bread and drop it into the round skillet with handle.", + "Pick up the fluffy baked bread and put it in the skillet with black cooking surface", + "Use the left arm to move the rounded square loaf into the metal skillet", + "Pick the rounded square loaf and set it into the dark gray skillet.", + "Move the soft square bread from table into the medium-sized frying skillet", + "Use the left arm to grab the medium-sized bread piece for the smooth non-stick skillet", + "Put the sponge-textured golden bread into the metal skillet after grabbing it", + "Use the left arm to stick the square-shaped bread piece into the medium-sized frying skillet.", + "Move the medium-sized bread piece to the dark gray skillet using the left arm", + "Grab the medium bread with rounded sides with the left arm and place in the metal skillet with comfortable grip", + "Place the golden brown bread into the skillet for frying food using the left arm", + "Take the bread with soft texture and place it inside the flat-bottom skillet", + "Use the left arm to grab the soft square bread and set it in the skillet for frying food.", + "Take the golden brown bread and put it in the black-surfaced skillet with gray sides.", + "Transfer the golden baked bread into the metal skillet with comfortable grip from the table", + "Put the medium-sized bread piece into the skillet with black cooking surface.", + "Use the left arm to set the light brown porous bread into the round skillet with handle.", + "Take the fluffy baked bread and place it inside the skillet for frying food", + "Take the medium bread with rounded sides off the table into the metal skillet", + "Grab the bread with soft texture using the left arm and place it in the skillet with black cooking surface", + "Use the left arm to grab the soft square bread for the flat-bottom skillet", + "Use the left arm to lift the golden baked bread and place it into the dark gray skillet.", + "Grab the fluffy baked bread and place it inside the gray skillet for stovetop cooking.", + "Lift the fluffy baked bread using the left arm and move it to the black-surfaced skillet with gray sides", + "Pick the bread with soft texture and transfer it to the gray skillet for stovetop cooking", + "Pick the square-shaped bread piece off the table and place it in the flat-bottom skillet.", + "Pick the bread with rounded edges up using the left arm and drop it in the flat-bottom skillet.", + "Pick up the fluffy baked bread with the left arm and drop it in the smooth non-stick skillet", + "Pick up the square-shaped bread piece and place it in the flat-bottom skillet.", + "Grab the bread with soft texture and stick it in the skillet for frying food.", + "Use the left arm to pick the golden baked bread and put it in the skillet with black cooking surface", + "Use the left arm to pick the soft square bread and place it into the skillet for frying food.", + "Lift the square-shaped bread piece and drop it into the skillet with black cooking surface.", + "Use the left arm to take the rounded square loaf and move it into the metal skillet.", + "Lift the medium-sized bread piece and drop it into the metal skillet with comfortable grip", + "Use the left arm to pick the bread with soft texture for the smooth non-stick skillet", + "Place the bread with soft texture from the table into the skillet with black cooking surface", + "Use the left arm to move the fluffy baked bread and set it into the skillet with black cooking surface.", + "Grab the golden brown bread and drop it into the black-surfaced skillet with gray sides", + "Take the golden baked bread and set it into the gray skillet for stovetop cooking", + "Move the sponge-textured golden bread into the medium-sized frying skillet from the table", + "Use the left arm to place the light brown porous bread into the round skillet with open handle end", + "Pick the light brown porous bread with the left arm and set it in the metal skillet with comfortable grip", + "Take the fluffy baked bread and put it in the round skillet with open handle end.", + "Set the square-shaped bread piece into the flat-bottom skillet after grabbing", + "Take the medium-sized bread piece with the left arm and drop into the dark gray skillet", + "Use the left arm to pick the soft square bread up for the metal skillet with comfortable grip", + "Grab the sponge-textured golden bread and place it inside the medium-sized frying skillet", + "Place the bread with soft texture into the skillet with black cooking surface with the left arm.", + "Grab the bread with soft texture from the table and set it in the round skillet with handle.", + "Take the square-shaped bread piece and drop it into the skillet for frying food.", + "Pick up the rounded square loaf and put it in the smooth non-stick skillet", + "Use the left arm to move the sponge-textured golden bread into the gray skillet for stovetop cooking", + "Pick the fluffy baked bread and set it into the dark gray skillet.", + "Move the bread with soft texture from table into the black-surfaced skillet with gray sides", + "Use the left arm to grab the sponge-textured golden bread for the skillet for frying food", + "Put the rounded square loaf into the black-surfaced skillet with gray sides after grabbing it", + "Use the left arm to stick the golden baked bread into the round skillet with open handle end.", + "Move the medium-sized bread piece to the skillet for frying food using the left arm", + "Grab the sponge-textured golden bread with the left arm and place in the medium-sized frying skillet", + "Place the fluffy baked bread into the skillet with black cooking surface using the left arm", + "Take the soft square bread and place it inside the metal skillet", + "Use the left arm to grab the fluffy baked bread and set it in the medium-sized frying skillet.", + "Take the bread with rounded edges and put it in the round skillet with handle.", + "Transfer the bread with soft texture into the round skillet with open handle end from the table", + "Put the golden baked bread into the skillet with black cooking surface.", + "Use the left arm to set the golden baked bread into the dark gray skillet.", + "Take the golden brown bread and place it inside the medium-sized frying skillet", + "Take the bread with rounded edges off the table into the skillet with black cooking surface", + "Grab the rounded square loaf using the left arm and place it in the skillet with black cooking surface", + "Use the left arm to grab the bread with soft texture for the round skillet with open handle end", + "Use the left arm to lift the soft square bread and place it into the metal skillet with comfortable grip.", + "Grab the medium bread with rounded sides and place it inside the gray skillet for stovetop cooking.", + "Lift the rounded square loaf using the left arm and move it to the metal skillet", + "Pick the bread with rounded edges and transfer it to the round skillet with open handle end", + "Pick the bread with rounded edges off the table and place it in the metal skillet.", + "Pick the light brown porous bread up using the left arm and drop it in the flat-bottom skillet.", + "Pick up the rounded square loaf with the left arm and drop it in the smooth non-stick skillet", + "Pick up the medium-sized bread piece and place it in the metal skillet with comfortable grip.", + "Grab the golden baked bread and stick it in the gray skillet for stovetop cooking.", + "Use the left arm to pick the medium-sized bread piece and put it in the skillet with black cooking surface", + "Use the left arm to pick the bread with rounded edges and place it into the skillet for frying food.", + "Lift the medium-sized bread piece and drop it into the metal skillet with comfortable grip.", + "Use the left arm to take the golden baked bread and move it into the round skillet with open handle end.", + "Lift the bread with soft texture and drop it into the skillet with black cooking surface", + "Use the left arm to pick the bread with rounded edges for the medium-sized frying skillet", + "Place the bread with rounded edges from the table into the gray skillet for stovetop cooking", + "Use the left arm to move the rounded square loaf and set it into the metal skillet with comfortable grip.", + "Grab the soft square bread and drop it into the round skillet with open handle end", + "Take the light brown porous bread and set it into the skillet with black cooking surface", + "Move the light brown porous bread into the metal skillet with comfortable grip from the table", + "Use the left arm to place the sponge-textured golden bread into the skillet with black cooking surface", + "Pick the golden brown bread with the left arm and set it in the flat-bottom skillet", + "Take the medium-sized bread piece and put it in the skillet for frying food." + ], + "unseen": [ + "Use the left arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Pick up the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing", + "Move the square bread with light spots to the versatile skillet for frying and sauteing using the left arm.", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Move the soft bread with golden edges to the versatile skillet for frying and sauteing using the left arm.", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the soft bread with golden edges to the dark skillet with shiny finish.", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Grab the square bread with light spots and place it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Use the left arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Pick the soft bread with golden edges up and place it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the left arm.", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Use the left arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Grab the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Pick the soft bread with golden edges up and place it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Pick up the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle", + "Move the square bread with light spots to the dark skillet with shiny finish using the left arm.", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Move the square bread with light spots to the versatile skillet for frying and sauteing using the left arm.", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Use the left arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and place it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Move the square bread with light spots to the dark skillet with shiny finish using the left arm.", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and place it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Use the left arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Move the square bread with light spots to the dark skillet with shiny finish using the left arm.", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Pick the soft bread with golden edges up and place it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Pick up the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing", + "Move the square bread with light spots to the dark skillet with shiny finish using the left arm.", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Use the left arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and place it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the left arm.", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Use the left arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Grab the square bread with light spots and place it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Pick up the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the left arm.", + "Take the square bread with light spots and put it in the dark skillet with shiny finish" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode14.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode14.json new file mode 100644 index 0000000000000000000000000000000000000000..f0b74ae6ed49a0672b9681b224417e4877624ca5 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode14.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the soft bread and put it in the black pan with curved edges.", + "Use the right arm to move the bread loaf with uneven edges and set it into the solid dark-colored round pan.", + "Use the right arm to pick the bread block with light patches and put it in the smooth round pan made of iron", + "Pick the cuboid bread and transfer it to the skillet with extended grip handle", + "Lift the golden bread loaf and drop it into the heavy black cooking skillet", + "Pick the light golden brown bread and set it into the medium black pan with handle.", + "Pick the hand-sized bread block with the right arm and set it in the medium black pan with handle", + "Move the bread loaf with bumpy surface to the medium black pan with handle using the right arm", + "Put the cuboid bread into the versatile skillet for stovetop cooking.", + "Place the golden bread into the round cooking pan using the right arm", + "Take the bread loaf with bumpy surface and place it inside the dark pan with sturdy grip", + "Transfer the bread loaf with bumpy surface into the flat-bottomed skillet with long handle from the table", + "Grab the bread loaf with uneven edges with the right arm and place in the medium black pan with handle", + "Use the right arm to lift the soft bread and place it into the round cooking pan.", + "Use the right arm to grab the bread with rough texture for the black skillet with smooth base", + "Pick the light golden brown bread up using the right arm and drop it in the round cooking pan.", + "Take the cuboid bread with the right arm and drop into the flat-bottomed skillet with long handle", + "Lift the light golden brown bread using the right arm and move it to the black skillet with smooth base", + "Use the right arm to take the light golden brown bread and move it into the solid dark-colored round pan.", + "Use the right arm to place the bread loaf with bumpy surface into the medium black pan with handle", + "Grab the bread loaf with uneven edges and place it inside the heavy black cooking skillet.", + "Use the right arm to set the cuboid bread into the flat-bottomed skillet with long handle.", + "Grab the bread loaf with uneven edges using the right arm and place it in the round pan with hole in handle", + "Lift the bread with rough texture and drop it into the round cooking pan.", + "Move the light golden brown bread into the black skillet with smooth base from the table", + "Put the golden bread loaf into the smooth round pan made of iron after grabbing it", + "Pick the golden bread off the table and place it in the solid dark-colored round pan.", + "Use the right arm to pick the hand-sized bread block up for the black pan with curved edges", + "Use the right arm to pick the hand-sized bread block for the flat-bottomed skillet with long handle", + "Use the right arm to pick the bread loaf with bumpy surface and place it into the dark pan with sturdy grip.", + "Set the hand-sized bread block into the solid dark-colored round pan after grabbing", + "Take the bread block with light patches and put it in the solid dark-colored round pan.", + "Take the bread loaf with uneven edges and set it into the black pan with curved edges", + "Use the right arm to move the doughy and soft bread into the flat-bottomed skillet with long handle", + "Move the golden bread from table into the flat-bottomed skillet with long handle", + "Pick up the bread with rough texture and place it in the solid dark-colored round pan.", + "Take the bread loaf with uneven edges and place it inside the smooth round pan made of iron", + "Take the bread with rough texture and drop it into the solid dark-colored round pan.", + "Pick up the bread with rough texture and put it in the flat-bottomed skillet with long handle", + "Grab the golden bread loaf from the table and set it in the smooth round pan made of iron.", + "Pick up the cuboid bread with the right arm and drop it in the black skillet with smooth base", + "Grab the light golden brown bread and place it inside the flat-bottomed skillet with long handle", + "Use the right arm to stick the doughy and soft bread into the black skillet with smooth base.", + "Take the light golden brown bread off the table into the solid dark-colored round pan", + "Place the soft bread into the dark pan with sturdy grip with the right arm.", + "Grab the bread loaf with uneven edges and drop it into the round pan with hole in handle", + "Use the right arm to grab the cuboid bread and set it in the round pan with hole in handle.", + "Use the right arm to grab the bread block with light patches for the round cooking pan", + "Grab the bread with rough texture and stick it in the medium black pan with handle.", + "Place the soft bread from the table into the black skillet with smooth base", + "Take the bread loaf with bumpy surface and put it in the versatile skillet for stovetop cooking.", + "Use the right arm to move the bread loaf with uneven edges and set it into the round pan with hole in handle.", + "Use the right arm to pick the square-shaped bread and put it in the smooth round pan made of iron", + "Pick the square-shaped bread and transfer it to the black pan with curved edges", + "Lift the square-shaped bread and drop it into the dark pan with sturdy grip", + "Pick the bread block with light patches and set it into the flat-bottomed skillet with long handle.", + "Pick the doughy and soft bread with the right arm and set it in the round pan with hole in handle", + "Move the golden bread to the medium black pan with handle using the right arm", + "Put the bread loaf with uneven edges into the round pan with hole in handle.", + "Place the cuboid bread into the skillet with extended grip handle using the right arm", + "Take the square-shaped bread and place it inside the versatile skillet for stovetop cooking", + "Transfer the golden bread loaf into the solid dark-colored round pan from the table", + "Grab the cuboid bread with the right arm and place in the smooth round pan made of iron", + "Use the right arm to lift the golden bread loaf and place it into the round cooking pan.", + "Use the right arm to grab the bread block with light patches for the dark pan with sturdy grip", + "Pick the soft bread up using the right arm and drop it in the round pan with hole in handle.", + "Take the bread loaf with bumpy surface with the right arm and drop into the black skillet with smooth base", + "Lift the golden bread using the right arm and move it to the flat-bottomed skillet with long handle", + "Use the right arm to take the golden bread and move it into the medium black pan with handle.", + "Use the right arm to place the golden bread loaf into the flat-bottomed skillet with long handle", + "Grab the golden bread loaf and place it inside the heavy black cooking skillet.", + "Use the right arm to set the bread loaf with uneven edges into the smooth round pan made of iron.", + "Grab the bread with rough texture using the right arm and place it in the heavy black cooking skillet", + "Lift the doughy and soft bread and drop it into the smooth round pan made of iron.", + "Move the bread loaf with uneven edges into the black skillet with smooth base from the table", + "Put the bread with rough texture into the round cooking pan after grabbing it", + "Pick the hand-sized bread block off the table and place it in the heavy black cooking skillet.", + "Use the right arm to pick the light golden brown bread up for the skillet with extended grip handle", + "Use the right arm to pick the soft bread for the round pan with hole in handle", + "Use the right arm to pick the golden bread and place it into the skillet with extended grip handle.", + "Set the cuboid bread into the smooth round pan made of iron after grabbing", + "Take the bread loaf with uneven edges and put it in the versatile skillet for stovetop cooking.", + "Take the golden bread and set it into the round cooking pan", + "Use the right arm to move the cuboid bread into the medium black pan with handle", + "Move the light golden brown bread from table into the solid dark-colored round pan", + "Pick up the bread block with light patches and place it in the round pan with hole in handle.", + "Take the hand-sized bread block and place it inside the flat-bottomed skillet with long handle", + "Take the bread with rough texture and drop it into the medium black pan with handle.", + "Pick up the soft bread and put it in the black skillet with smooth base", + "Grab the doughy and soft bread from the table and set it in the solid dark-colored round pan.", + "Pick up the bread with rough texture with the right arm and drop it in the smooth round pan made of iron", + "Grab the bread block with light patches and place it inside the medium black pan with handle", + "Use the right arm to stick the soft bread into the smooth round pan made of iron.", + "Take the bread loaf with bumpy surface off the table into the medium black pan with handle", + "Place the hand-sized bread block into the medium black pan with handle with the right arm.", + "Grab the cuboid bread and drop it into the versatile skillet for stovetop cooking", + "Use the right arm to grab the soft bread and set it in the round cooking pan.", + "Use the right arm to grab the bread block with light patches for the medium black pan with handle", + "Grab the bread block with light patches and stick it in the skillet with extended grip handle.", + "Place the bread loaf with uneven edges from the table into the solid dark-colored round pan" + ], + "unseen": [ + "Use the right arm to grab the bread with golden crust and set it in the black skillet", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Pick up the bread with golden crust and drop it into the black skillet", + "Take the bread with golden crust and put it in the black skillet", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Use the right arm to move the bread loaf with soft surface to the black skillet.", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Move the bread with golden crust to the round cast-iron skillet using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Take the rectangular bread loaf and put it in the black skillet", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Use the right arm to move the rectangular bread loaf to the black skillet.", + "Grab the rectangular bread loaf and set it in the black skillet", + "Move the bread with golden crust to the black skillet using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the black skillet", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Take the bread loaf with soft surface and put it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Grab the rectangular bread loaf and place it in the black skillet", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Use the right arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Grab the bread with golden crust and set it in the black skillet", + "Move the rectangular bread loaf to the iron skillet for frying foods using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Pick the bread with golden crust up and place it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Take the rectangular bread loaf and put it in the round cast-iron skillet", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Grab the rectangular bread loaf and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Use the right arm to move the bread loaf with soft surface to the black skillet.", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Move the bread with golden crust to the black skillet using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Pick the bread with golden crust up and place it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Grab the rectangular bread loaf and place it in the round cast-iron skillet", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Use the right arm to move the bread with golden crust to the round cast-iron skillet.", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Move the rectangular bread loaf to the black skillet using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Take the rectangular bread loaf and put it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Grab the bread loaf with soft surface and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Use the right arm to move the bread loaf with soft surface to the iron skillet for frying foods.", + "Grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Move the bread loaf with soft surface to the black skillet using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Pick the bread with golden crust up and place it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Take the bread loaf with soft surface and put it in the black skillet", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Grab the bread with golden crust and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Use the right arm to move the rectangular bread loaf to the round cast-iron skillet.", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Move the bread loaf with soft surface to the iron skillet for frying foods using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Pick the bread with golden crust up and place it in the round cast-iron skillet", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Take the bread with golden crust and put it in the black skillet", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Grab the bread with golden crust and drop it into the black skillet.", + "Use the right arm to move the bread with golden crust to the black skillet.", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Move the bread with golden crust to the iron skillet for frying foods using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the black skillet", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the iron skillet for frying foods", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Grab the rectangular bread loaf and drop it into the black skillet.", + "Use the right arm to move the bread with golden crust to the round cast-iron skillet.", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Move the bread with golden crust to the black skillet using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Take the bread loaf with soft surface and put it in the black skillet", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Use the right arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Grab the rectangular bread loaf and set it in the black skillet", + "Move the bread with golden crust to the round cast-iron skillet using the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode15.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode15.json new file mode 100644 index 0000000000000000000000000000000000000000..3ff0948721e56ec30c8d1baf304b2a4fafc30741 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode15.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the medium bread with rounded sides and put it in the black-surfaced skillet with gray sides.", + "Grab the medium bread with rounded sides and place it inside the gray skillet for stovetop cooking", + "Grab the soft square bread and stick it in the smooth non-stick skillet.", + "Pick the sponge-textured golden bread with the right arm and set it in the skillet with black cooking surface", + "Use the right arm to pick the soft square bread and place it into the black-surfaced skillet with gray sides.", + "Use the right arm to lift the bread with rounded edges and place it into the smooth non-stick skillet.", + "Grab the golden baked bread from the table and set it in the skillet for frying food.", + "Use the right arm to stick the medium bread with rounded sides into the skillet for frying food.", + "Take the rounded square loaf off the table into the flat-bottom skillet", + "Use the right arm to move the medium bread with rounded sides into the gray skillet for stovetop cooking", + "Grab the golden baked bread and place it inside the black-surfaced skillet with gray sides.", + "Use the right arm to take the fluffy baked bread and move it into the metal skillet.", + "Use the right arm to set the bread with rounded edges into the skillet for frying food.", + "Pick the rounded square loaf up using the right arm and drop it in the flat-bottom skillet.", + "Grab the soft square bread using the right arm and place it in the skillet with black cooking surface", + "Use the right arm to pick the light brown porous bread up for the dark gray skillet", + "Place the bread with soft texture into the smooth non-stick skillet using the right arm", + "Lift the sponge-textured golden bread and drop it into the black-surfaced skillet with gray sides.", + "Use the right arm to pick the medium-sized bread piece for the dark gray skillet", + "Move the golden baked bread to the medium-sized frying skillet using the right arm", + "Lift the soft square bread using the right arm and move it to the round skillet with open handle end", + "Set the golden brown bread into the black-surfaced skillet with gray sides after grabbing", + "Use the right arm to pick the light brown porous bread and put it in the skillet with black cooking surface", + "Move the bread with rounded edges from table into the dark gray skillet", + "Take the medium bread with rounded sides and set it into the smooth non-stick skillet", + "Take the medium bread with rounded sides and put it in the round skillet with handle.", + "Take the sponge-textured golden bread with the right arm and drop into the flat-bottom skillet", + "Use the right arm to grab the golden brown bread for the metal skillet with comfortable grip", + "Pick the bread with rounded edges off the table and place it in the round skillet with open handle end.", + "Pick up the fluffy baked bread with the right arm and drop it in the gray skillet for stovetop cooking", + "Put the soft square bread into the dark gray skillet.", + "Grab the light brown porous bread with the right arm and place in the gray skillet for stovetop cooking", + "Take the sponge-textured golden bread and drop it into the flat-bottom skillet.", + "Use the right arm to place the medium-sized bread piece into the metal skillet with comfortable grip", + "Lift the rounded square loaf and drop it into the skillet with black cooking surface", + "Use the right arm to grab the golden brown bread and set it in the metal skillet with comfortable grip.", + "Pick the medium bread with rounded sides and transfer it to the smooth non-stick skillet", + "Move the soft square bread into the round skillet with open handle end from the table", + "Take the golden brown bread and place it inside the metal skillet with comfortable grip", + "Take the medium-sized bread piece and place it inside the skillet for frying food", + "Pick up the soft square bread and put it in the black-surfaced skillet with gray sides", + "Transfer the golden baked bread into the skillet with black cooking surface from the table", + "Place the medium bread with rounded sides from the table into the black-surfaced skillet with gray sides", + "Place the bread with soft texture into the flat-bottom skillet with the right arm.", + "Put the bread with soft texture into the smooth non-stick skillet after grabbing it", + "Use the right arm to move the soft square bread and set it into the smooth non-stick skillet.", + "Use the right arm to grab the fluffy baked bread for the skillet with black cooking surface", + "Grab the soft square bread and drop it into the round skillet with open handle end", + "Pick the golden baked bread and set it into the dark gray skillet.", + "Pick up the bread with rounded edges and place it in the skillet with black cooking surface.", + "Take the bread with rounded edges and put it in the round skillet with open handle end.", + "Grab the golden brown bread and place it inside the metal skillet", + "Grab the medium-sized bread piece and stick it in the dark gray skillet.", + "Pick the bread with rounded edges with the right arm and set it in the round skillet with open handle end", + "Use the right arm to pick the golden brown bread and place it into the medium-sized frying skillet.", + "Use the right arm to lift the square-shaped bread piece and place it into the round skillet with open handle end.", + "Grab the medium bread with rounded sides from the table and set it in the smooth non-stick skillet.", + "Use the right arm to stick the rounded square loaf into the skillet for frying food.", + "Take the square-shaped bread piece off the table into the metal skillet", + "Use the right arm to move the golden baked bread into the black-surfaced skillet with gray sides", + "Grab the medium bread with rounded sides and place it inside the dark gray skillet.", + "Use the right arm to take the soft square bread and move it into the medium-sized frying skillet.", + "Use the right arm to set the fluffy baked bread into the smooth non-stick skillet.", + "Pick the sponge-textured golden bread up using the right arm and drop it in the gray skillet for stovetop cooking.", + "Grab the rounded square loaf using the right arm and place it in the smooth non-stick skillet", + "Use the right arm to pick the fluffy baked bread up for the metal skillet with comfortable grip", + "Place the bread with soft texture into the metal skillet using the right arm", + "Lift the medium-sized bread piece and drop it into the skillet with black cooking surface.", + "Use the right arm to pick the bread with rounded edges for the metal skillet with comfortable grip", + "Move the golden baked bread to the gray skillet for stovetop cooking using the right arm", + "Lift the golden brown bread using the right arm and move it to the gray skillet for stovetop cooking", + "Set the square-shaped bread piece into the flat-bottom skillet after grabbing", + "Use the right arm to pick the fluffy baked bread and put it in the metal skillet", + "Move the soft square bread from table into the round skillet with handle", + "Take the bread with soft texture and set it into the dark gray skillet", + "Take the rounded square loaf and put it in the metal skillet.", + "Take the bread with rounded edges with the right arm and drop into the skillet with black cooking surface", + "Use the right arm to grab the bread with soft texture for the dark gray skillet", + "Pick the bread with rounded edges off the table and place it in the skillet for frying food.", + "Pick up the sponge-textured golden bread with the right arm and drop it in the dark gray skillet", + "Put the bread with soft texture into the skillet with black cooking surface.", + "Grab the golden baked bread with the right arm and place in the skillet with black cooking surface", + "Take the bread with rounded edges and drop it into the round skillet with open handle end.", + "Use the right arm to place the sponge-textured golden bread into the dark gray skillet", + "Lift the medium bread with rounded sides and drop it into the round skillet with handle", + "Use the right arm to grab the bread with rounded edges and set it in the gray skillet for stovetop cooking.", + "Pick the sponge-textured golden bread and transfer it to the black-surfaced skillet with gray sides", + "Move the rounded square loaf into the round skillet with open handle end from the table", + "Take the fluffy baked bread and place it inside the skillet for frying food", + "Take the bread with soft texture and place it inside the metal skillet with comfortable grip", + "Pick up the sponge-textured golden bread and put it in the round skillet with open handle end", + "Transfer the sponge-textured golden bread into the flat-bottom skillet from the table", + "Place the bread with rounded edges from the table into the metal skillet", + "Place the golden brown bread into the metal skillet with comfortable grip with the right arm.", + "Put the rounded square loaf into the medium-sized frying skillet after grabbing it", + "Use the right arm to move the medium-sized bread piece and set it into the dark gray skillet.", + "Use the right arm to grab the golden baked bread for the flat-bottom skillet", + "Grab the fluffy baked bread and drop it into the round skillet with open handle end", + "Pick the soft square bread and set it into the black-surfaced skillet with gray sides.", + "Pick up the bread with rounded edges and place it in the skillet with black cooking surface." + ], + "unseen": [ + "Move the square bread with light spots to the dark skillet with shiny finish using the right arm.", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Use the right arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the right arm.", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Pick up the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the right arm.", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the right arm.", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Use the right arm to move the soft bread with golden edges to the dark skillet with shiny finish.", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing.", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Move the soft bread with golden edges to the dark skillet with shiny finish using the right arm.", + "Take the spongy golden brown bread and put it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Pick up the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the versatile skillet for frying and sauteing.", + "Grab the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing.", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the right arm.", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Pick up the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the right arm.", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Move the soft bread with golden edges to the dark skillet with shiny finish using the right arm.", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the soft bread with golden edges to the dark skillet with shiny finish.", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Grab the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing.", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Move the spongy golden brown bread to the versatile skillet for frying and sauteing using the right arm.", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Use the right arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Pick the soft bread with golden edges up and place it in the pan-shaped skillet with hole in handle", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the right arm.", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Grab the square bread with light spots and drop it into the versatile skillet for frying and sauteing.", + "Pick the square bread with light spots up and place it in the dark skillet with shiny finish" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode16.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode16.json new file mode 100644 index 0000000000000000000000000000000000000000..ca3d6d53eb0fd3006519027623b719e73bf1b271 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode16.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the soft brown bread from the table into the round cooking pan", + "Place the light brown loaf with smooth sides into the black skillet with smooth base with the right arm.", + "Grab the bread with golden-brown crust and place it inside the round cooking pan.", + "Grab the soft brown bread and stick it in the solid dark-colored round pan.", + "Take the golden bread loaf and drop it into the black skillet with smooth base.", + "Use the right arm to grab the brown loaf for the black skillet with smooth base", + "Lift the light brown bread with ridges and drop it into the round pan with hole in handle", + "Use the right arm to pick the hand-sized oval loaf for the black skillet with smooth base", + "Grab the bread with golden-brown crust with the right arm and place in the smooth round pan made of iron", + "Pick the bread with warm golden color and set it into the round pan with hole in handle.", + "Take the bread with warm golden color and set it into the solid dark-colored round pan", + "Pick the light brown loaf with smooth sides off the table and place it in the smooth round pan made of iron.", + "Move the hand-sized oval loaf from table into the round pan with hole in handle", + "Take the smooth loaf with rounded edges and place it inside the black pan with curved edges", + "Grab the bread with split top from the table and set it in the flat-bottomed skillet with long handle.", + "Use the right arm to move the bread with golden-brown crust into the skillet with extended grip handle", + "Set the bread with golden-brown crust into the solid dark-colored round pan after grabbing", + "Use the right arm to stick the bread with warm golden color into the skillet with extended grip handle.", + "Use the right arm to take the small golden brown bread and move it into the round cooking pan.", + "Pick the small loaf with curved top up using the right arm and drop it in the round pan with hole in handle.", + "Use the right arm to set the bread with golden-brown crust into the heavy black cooking skillet.", + "Take the bread with golden-brown crust and put it in the medium black pan with handle.", + "Pick up the golden bread loaf and place it in the smooth round pan made of iron.", + "Move the light brown bread with ridges into the dark pan with sturdy grip from the table", + "Use the right arm to pick the small loaf with curved top and place it into the solid dark-colored round pan.", + "Take the bread with warm golden color with the right arm and drop into the flat-bottomed skillet with long handle", + "Take the bread with golden-brown crust off the table into the round cooking pan", + "Take the hand-sized oval loaf and put it in the heavy black cooking skillet.", + "Pick the bread with golden-brown crust with the right arm and set it in the black skillet with smooth base", + "Use the right arm to grab the soft brown bread for the solid dark-colored round pan", + "Pick the brown loaf and transfer it to the smooth round pan made of iron", + "Lift the soft brown bread using the right arm and move it to the smooth round pan made of iron", + "Use the right arm to place the smooth loaf with rounded edges into the medium black pan with handle", + "Pick up the hand-sized oval loaf and put it in the round cooking pan", + "Move the bread with split top to the smooth round pan made of iron using the right arm", + "Put the light brown loaf with smooth sides into the smooth round pan made of iron after grabbing it", + "Use the right arm to move the small loaf with curved top and set it into the black pan with curved edges.", + "Use the right arm to lift the brown loaf and place it into the flat-bottomed skillet with long handle.", + "Use the right arm to grab the brown loaf and set it in the versatile skillet for stovetop cooking.", + "Grab the bread with golden-brown crust and place it inside the medium black pan with handle", + "Take the soft brown bread and place it inside the versatile skillet for stovetop cooking", + "Lift the small golden brown bread and drop it into the solid dark-colored round pan.", + "Use the right arm to pick the light brown bread with ridges up for the round cooking pan", + "Place the light brown bread with ridges into the dark pan with sturdy grip using the right arm", + "Put the brown loaf into the flat-bottomed skillet with long handle.", + "Transfer the bread with warm golden color into the black skillet with smooth base from the table", + "Grab the light brown loaf with smooth sides and drop it into the black pan with curved edges", + "Use the right arm to pick the bread with golden-brown crust and put it in the black skillet with smooth base", + "Pick up the light brown bread with ridges with the right arm and drop it in the solid dark-colored round pan", + "Grab the hand-sized oval loaf using the right arm and place it in the flat-bottomed skillet with long handle", + "Place the bread with split top from the table into the dark pan with sturdy grip", + "Place the bread with split top into the heavy black cooking skillet with the right arm.", + "Grab the golden bread loaf and place it inside the dark pan with sturdy grip.", + "Grab the small loaf with curved top and stick it in the black pan with curved edges.", + "Take the bread with golden-brown crust and drop it into the solid dark-colored round pan.", + "Use the right arm to grab the golden bread loaf for the skillet with extended grip handle", + "Lift the bread with golden-brown crust and drop it into the medium black pan with handle", + "Use the right arm to pick the bread with golden-brown crust for the black pan with curved edges", + "Grab the brown loaf with the right arm and place in the round pan with hole in handle", + "Pick the small loaf with curved top and set it into the solid dark-colored round pan.", + "Take the light brown loaf with smooth sides and set it into the round cooking pan", + "Pick the bread with warm golden color off the table and place it in the round cooking pan.", + "Move the small loaf with curved top from table into the heavy black cooking skillet", + "Take the small golden brown bread and place it inside the medium black pan with handle", + "Grab the light brown loaf with smooth sides from the table and set it in the black pan with curved edges.", + "Use the right arm to move the light brown loaf with smooth sides into the dark pan with sturdy grip", + "Set the light brown loaf with smooth sides into the smooth round pan made of iron after grabbing", + "Use the right arm to stick the light brown bread with ridges into the black skillet with smooth base.", + "Use the right arm to take the hand-sized oval loaf and move it into the versatile skillet for stovetop cooking.", + "Pick the small golden brown bread up using the right arm and drop it in the smooth round pan made of iron.", + "Use the right arm to set the bread with golden-brown crust into the round cooking pan.", + "Take the brown loaf and put it in the round cooking pan.", + "Pick up the hand-sized oval loaf and place it in the black pan with curved edges.", + "Move the bread with split top into the black pan with curved edges from the table", + "Use the right arm to pick the bread with golden-brown crust and place it into the medium black pan with handle.", + "Take the brown loaf with the right arm and drop into the versatile skillet for stovetop cooking", + "Take the bread with golden-brown crust off the table into the flat-bottomed skillet with long handle", + "Take the bread with split top and put it in the dark pan with sturdy grip.", + "Pick the bread with split top with the right arm and set it in the skillet with extended grip handle", + "Use the right arm to grab the bread with warm golden color for the black skillet with smooth base", + "Pick the light brown loaf with smooth sides and transfer it to the dark pan with sturdy grip", + "Lift the smooth loaf with rounded edges using the right arm and move it to the heavy black cooking skillet", + "Use the right arm to place the brown loaf into the round pan with hole in handle", + "Pick up the light brown loaf with smooth sides and put it in the heavy black cooking skillet", + "Move the light brown bread with ridges to the round cooking pan using the right arm", + "Put the bread with split top into the skillet with extended grip handle after grabbing it", + "Use the right arm to move the soft brown bread and set it into the heavy black cooking skillet.", + "Use the right arm to lift the small golden brown bread and place it into the flat-bottomed skillet with long handle.", + "Use the right arm to grab the light brown loaf with smooth sides and set it in the round pan with hole in handle.", + "Grab the bread with golden-brown crust and place it inside the heavy black cooking skillet", + "Take the small loaf with curved top and place it inside the versatile skillet for stovetop cooking", + "Lift the light brown loaf with smooth sides and drop it into the smooth round pan made of iron.", + "Use the right arm to pick the bread with golden-brown crust up for the solid dark-colored round pan", + "Place the bread with warm golden color into the medium black pan with handle using the right arm", + "Put the light brown bread with ridges into the skillet with extended grip handle.", + "Transfer the golden bread loaf into the heavy black cooking skillet from the table", + "Grab the bread with golden-brown crust and drop it into the versatile skillet for stovetop cooking", + "Use the right arm to pick the small loaf with curved top and put it in the flat-bottomed skillet with long handle", + "Pick up the golden bread loaf with the right arm and drop it in the medium black pan with handle", + "Grab the golden bread loaf using the right arm and place it in the versatile skillet for stovetop cooking" + ], + "unseen": [ + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Pick the oval bread up and place it in the black skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Grab the oval bread and drop it into the black skillet.", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the black skillet", + "Take the oval bread and put it in the iron skillet for frying foods", + "Grab the oval bread and set it in the black skillet", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Grab the rounded oval bread and drop it into the black skillet.", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Take the rounded oval bread and put it in the black skillet", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the oval bread to the iron skillet for frying foods.", + "Pick the rounded oval bread up and place it in the black skillet", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Move the rounded oval bread to the black skillet using the right arm.", + "Use the right arm to move the oval bread to the black skillet.", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it into the black skillet.", + "Grab the oval bread and drop it into the black skillet.", + "Grab the oval bread and place it in the black skillet", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Pick up the rounded oval bread and drop it into the black skillet", + "Take the oval bread and put it in the round cast-iron skillet", + "Grab the oval bread and set it in the round cast-iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Move the rounded oval bread to the black skillet using the right arm.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Grab the oval bread and place it into the black skillet.", + "Grab the rounded oval bread and drop it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Pick up the oval bread and drop it into the black skillet", + "Take the oval bread and put it in the round cast-iron skillet", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Grab the rounded oval bread and drop it into the black skillet.", + "Grab the oval bread and place it in the black skillet", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Take the rounded oval bread and put it in the black skillet", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Move the oval bread to the round cast-iron skillet using the right arm.", + "Use the right arm to move the oval bread to the black skillet.", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Grab the oval bread and place it in the round cast-iron skillet", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Take the rounded oval bread and put it in the black skillet", + "Grab the oval bread and set it in the black skillet", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Take the rounded oval bread and put it in the black skillet", + "Grab the rounded oval bread and set it in the black skillet", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Grab the oval bread and drop it into the iron skillet for frying foods.", + "Grab the rounded oval bread and place it in the black skillet", + "Pick up the rounded oval bread and drop it into the black skillet", + "Take the oval bread and put it in the black skillet", + "Grab the oval bread and set it in the round cast-iron skillet", + "Use the right arm to grab the oval bread and set it in the iron skillet for frying foods", + "Move the rounded oval bread to the round cast-iron skillet using the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode17.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode17.json new file mode 100644 index 0000000000000000000000000000000000000000..762bcec0fa01e1668447af9f71d3403f0bb22ce8 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode17.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the bread loaf with bumpy surface into the round skillet with handle from the table", + "Use the right arm to set the cuboid bread into the metal skillet with comfortable grip.", + "Use the right arm to pick the golden bread and place it into the gray skillet for stovetop cooking.", + "Pick the light golden brown bread with the right arm and set it in the round skillet with open handle end", + "Place the bread block with light patches into the skillet with black cooking surface with the right arm.", + "Place the bread with rough texture from the table into the dark gray skillet", + "Pick up the square-shaped bread with the right arm and drop it in the dark gray skillet", + "Grab the bread block with light patches and drop it into the skillet for frying food", + "Take the doughy and soft bread and put it in the metal skillet.", + "Transfer the soft bread into the flat-bottom skillet from the table", + "Move the golden bread to the skillet with black cooking surface using the right arm", + "Use the right arm to pick the hand-sized bread block for the round skillet with handle", + "Pick up the cuboid bread and place it in the dark gray skillet.", + "Use the right arm to move the soft bread and set it into the round skillet with open handle end.", + "Take the golden bread loaf and place it inside the skillet with black cooking surface", + "Set the hand-sized bread block into the black-surfaced skillet with gray sides after grabbing", + "Use the right arm to grab the light golden brown bread for the gray skillet for stovetop cooking", + "Use the right arm to place the cuboid bread into the metal skillet with comfortable grip", + "Use the right arm to grab the soft bread for the skillet for frying food", + "Use the right arm to pick the square-shaped bread and put it in the dark gray skillet", + "Put the bread loaf with uneven edges into the black-surfaced skillet with gray sides after grabbing it", + "Pick the hand-sized bread block and transfer it to the medium-sized frying skillet", + "Grab the soft bread using the right arm and place it in the round skillet with handle", + "Take the doughy and soft bread and drop it into the smooth non-stick skillet.", + "Use the right arm to grab the cuboid bread and set it in the gray skillet for stovetop cooking.", + "Pick up the hand-sized bread block and put it in the gray skillet for stovetop cooking", + "Take the bread block with light patches and place it inside the smooth non-stick skillet", + "Pick the bread loaf with uneven edges off the table and place it in the skillet with black cooking surface.", + "Grab the golden bread and place it inside the skillet for frying food", + "Pick the cuboid bread and set it into the flat-bottom skillet.", + "Grab the bread loaf with uneven edges and stick it in the gray skillet for stovetop cooking.", + "Take the bread loaf with bumpy surface with the right arm and drop into the flat-bottom skillet", + "Move the bread block with light patches from table into the round skillet with handle", + "Grab the bread loaf with uneven edges and place it inside the black-surfaced skillet with gray sides.", + "Use the right arm to lift the bread with rough texture and place it into the gray skillet for stovetop cooking.", + "Put the golden bread loaf into the metal skillet.", + "Grab the bread block with light patches with the right arm and place in the metal skillet", + "Take the bread loaf with uneven edges and set it into the metal skillet", + "Place the bread loaf with bumpy surface into the smooth non-stick skillet using the right arm", + "Grab the golden bread loaf from the table and set it in the metal skillet.", + "Pick the cuboid bread up using the right arm and drop it in the round skillet with handle.", + "Lift the light golden brown bread and drop it into the gray skillet for stovetop cooking.", + "Use the right arm to pick the golden bread up for the black-surfaced skillet with gray sides", + "Use the right arm to move the hand-sized bread block into the medium-sized frying skillet", + "Lift the golden bread and drop it into the skillet for frying food", + "Use the right arm to stick the bread block with light patches into the smooth non-stick skillet.", + "Take the golden bread off the table into the smooth non-stick skillet", + "Take the bread with rough texture and put it in the black-surfaced skillet with gray sides.", + "Use the right arm to take the bread with rough texture and move it into the medium-sized frying skillet.", + "Lift the doughy and soft bread using the right arm and move it to the round skillet with handle", + "Move the golden bread loaf into the black-surfaced skillet with gray sides from the table", + "Use the right arm to set the golden bread into the round skillet with open handle end.", + "Use the right arm to pick the cuboid bread and place it into the gray skillet for stovetop cooking.", + "Pick the doughy and soft bread with the right arm and set it in the skillet for frying food", + "Place the bread with rough texture into the medium-sized frying skillet with the right arm.", + "Place the bread with rough texture from the table into the flat-bottom skillet", + "Pick up the square-shaped bread with the right arm and drop it in the skillet with black cooking surface", + "Grab the square-shaped bread and drop it into the medium-sized frying skillet", + "Take the light golden brown bread and put it in the flat-bottom skillet.", + "Transfer the soft bread into the round skillet with open handle end from the table", + "Move the doughy and soft bread to the round skillet with open handle end using the right arm", + "Use the right arm to pick the cuboid bread for the flat-bottom skillet", + "Pick up the soft bread and place it in the round skillet with open handle end.", + "Use the right arm to move the golden bread loaf and set it into the black-surfaced skillet with gray sides.", + "Take the bread block with light patches and place it inside the dark gray skillet", + "Set the bread with rough texture into the black-surfaced skillet with gray sides after grabbing", + "Use the right arm to grab the bread block with light patches for the black-surfaced skillet with gray sides", + "Use the right arm to place the bread loaf with uneven edges into the skillet with black cooking surface", + "Use the right arm to grab the hand-sized bread block for the black-surfaced skillet with gray sides", + "Use the right arm to pick the bread block with light patches and put it in the gray skillet for stovetop cooking", + "Put the golden bread into the dark gray skillet after grabbing it", + "Pick the golden bread loaf and transfer it to the medium-sized frying skillet", + "Grab the soft bread using the right arm and place it in the gray skillet for stovetop cooking", + "Take the hand-sized bread block and drop it into the skillet with black cooking surface.", + "Use the right arm to grab the soft bread and set it in the smooth non-stick skillet.", + "Pick up the bread loaf with uneven edges and put it in the smooth non-stick skillet", + "Take the bread with rough texture and place it inside the metal skillet with comfortable grip", + "Pick the bread block with light patches off the table and place it in the gray skillet for stovetop cooking.", + "Grab the golden bread and place it inside the round skillet with open handle end", + "Pick the golden bread loaf and set it into the round skillet with handle.", + "Grab the golden bread loaf and stick it in the medium-sized frying skillet.", + "Take the golden bread with the right arm and drop into the flat-bottom skillet", + "Move the doughy and soft bread from table into the gray skillet for stovetop cooking", + "Grab the cuboid bread and place it inside the metal skillet.", + "Use the right arm to lift the light golden brown bread and place it into the round skillet with handle.", + "Put the bread with rough texture into the round skillet with open handle end.", + "Grab the bread with rough texture with the right arm and place in the gray skillet for stovetop cooking", + "Take the bread with rough texture and set it into the round skillet with open handle end", + "Place the cuboid bread into the gray skillet for stovetop cooking using the right arm", + "Grab the bread block with light patches from the table and set it in the smooth non-stick skillet.", + "Pick the golden bread loaf up using the right arm and drop it in the metal skillet with comfortable grip.", + "Lift the light golden brown bread and drop it into the round skillet with handle.", + "Use the right arm to pick the square-shaped bread up for the round skillet with handle", + "Use the right arm to move the golden bread into the smooth non-stick skillet", + "Lift the light golden brown bread and drop it into the medium-sized frying skillet", + "Use the right arm to stick the hand-sized bread block into the flat-bottom skillet.", + "Take the golden bread off the table into the skillet with black cooking surface", + "Take the light golden brown bread and put it in the dark gray skillet.", + "Use the right arm to take the light golden brown bread and move it into the metal skillet.", + "Lift the bread with rough texture using the right arm and move it to the gray skillet for stovetop cooking" + ], + "unseen": [ + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Use the right arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Use the right arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode18.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode18.json new file mode 100644 index 0000000000000000000000000000000000000000..467b0890fd53e665e61381f2cf47fa99a1c64aeb --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode18.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the small golden brown bread into the black skillet with smooth base using the right arm", + "Use the right arm to set the light brown bread with ridges into the black skillet with smooth base.", + "Use the right arm to take the hand-sized oval loaf and move it into the skillet with extended grip handle.", + "Use the right arm to pick the small golden brown bread and put it in the round cooking pan", + "Put the golden bread loaf into the solid dark-colored round pan.", + "Lift the bread with warm golden color and drop it into the solid dark-colored round pan", + "Pick the hand-sized oval loaf and set it into the dark pan with sturdy grip.", + "Take the soft brown bread off the table into the heavy black cooking skillet", + "Pick the brown loaf with the right arm and set it in the medium black pan with handle", + "Pick up the soft brown bread and put it in the round cooking pan", + "Grab the soft brown bread and place it inside the flat-bottomed skillet with long handle", + "Use the right arm to pick the small loaf with curved top up for the round cooking pan", + "Take the bread with warm golden color and put it in the smooth round pan made of iron.", + "Use the right arm to grab the small golden brown bread and set it in the black pan with curved edges.", + "Take the bread with golden-brown crust and place it inside the dark pan with sturdy grip", + "Transfer the golden bread loaf into the round cooking pan from the table", + "Grab the bread with warm golden color and drop it into the versatile skillet for stovetop cooking", + "Move the bread with split top from table into the round pan with hole in handle", + "Pick the light brown bread with ridges up using the right arm and drop it in the medium black pan with handle.", + "Grab the light brown bread with ridges from the table and set it in the smooth round pan made of iron.", + "Lift the hand-sized oval loaf using the right arm and move it to the heavy black cooking skillet", + "Use the right arm to pick the smooth loaf with rounded edges for the black skillet with smooth base", + "Pick the small golden brown bread off the table and place it in the versatile skillet for stovetop cooking.", + "Take the small golden brown bread with the right arm and drop into the skillet with extended grip handle", + "Place the golden bread loaf into the round pan with hole in handle with the right arm.", + "Use the right arm to stick the small loaf with curved top into the solid dark-colored round pan.", + "Use the right arm to pick the smooth loaf with rounded edges and place it into the skillet with extended grip handle.", + "Grab the smooth loaf with rounded edges and place it inside the smooth round pan made of iron.", + "Pick up the small loaf with curved top and place it in the black pan with curved edges.", + "Use the right arm to grab the smooth loaf with rounded edges for the smooth round pan made of iron", + "Put the small loaf with curved top into the black skillet with smooth base after grabbing it", + "Lift the bread with warm golden color and drop it into the flat-bottomed skillet with long handle.", + "Grab the smooth loaf with rounded edges using the right arm and place it in the dark pan with sturdy grip", + "Pick the golden bread loaf and transfer it to the dark pan with sturdy grip", + "Use the right arm to grab the bread with warm golden color for the skillet with extended grip handle", + "Use the right arm to lift the bread with warm golden color and place it into the heavy black cooking skillet.", + "Use the right arm to move the soft brown bread and set it into the round cooking pan.", + "Use the right arm to move the light brown loaf with smooth sides into the heavy black cooking skillet", + "Take the light brown loaf with smooth sides and put it in the round pan with hole in handle.", + "Move the golden bread loaf into the heavy black cooking skillet from the table", + "Grab the golden bread loaf with the right arm and place in the solid dark-colored round pan", + "Pick up the bread with split top with the right arm and drop it in the round cooking pan", + "Take the light brown bread with ridges and drop it into the dark pan with sturdy grip.", + "Move the brown loaf to the medium black pan with handle using the right arm", + "Take the hand-sized oval loaf and set it into the smooth round pan made of iron", + "Place the bread with split top from the table into the flat-bottomed skillet with long handle", + "Take the light brown bread with ridges and place it inside the black pan with curved edges", + "Use the right arm to place the bread with split top into the versatile skillet for stovetop cooking", + "Grab the golden bread loaf and stick it in the black pan with curved edges.", + "Set the smooth loaf with rounded edges into the skillet with extended grip handle after grabbing", + "Place the light brown bread with ridges into the black pan with curved edges using the right arm", + "Use the right arm to set the light brown loaf with smooth sides into the dark pan with sturdy grip.", + "Use the right arm to take the light brown loaf with smooth sides and move it into the skillet with extended grip handle.", + "Use the right arm to pick the small loaf with curved top and put it in the smooth round pan made of iron", + "Put the smooth loaf with rounded edges into the black pan with curved edges.", + "Lift the bread with split top and drop it into the heavy black cooking skillet", + "Pick the bread with split top and set it into the round cooking pan.", + "Take the soft brown bread off the table into the round cooking pan", + "Pick the bread with golden-brown crust with the right arm and set it in the heavy black cooking skillet", + "Pick up the golden bread loaf and put it in the smooth round pan made of iron", + "Grab the light brown loaf with smooth sides and place it inside the round cooking pan", + "Use the right arm to pick the bread with warm golden color up for the flat-bottomed skillet with long handle", + "Take the light brown loaf with smooth sides and put it in the round cooking pan.", + "Use the right arm to grab the bread with split top and set it in the versatile skillet for stovetop cooking.", + "Take the small golden brown bread and place it inside the black skillet with smooth base", + "Transfer the golden bread loaf into the black pan with curved edges from the table", + "Grab the bread with split top and drop it into the round pan with hole in handle", + "Move the bread with golden-brown crust from table into the round cooking pan", + "Pick the bread with warm golden color up using the right arm and drop it in the round pan with hole in handle.", + "Grab the hand-sized oval loaf from the table and set it in the versatile skillet for stovetop cooking.", + "Lift the small loaf with curved top using the right arm and move it to the heavy black cooking skillet", + "Use the right arm to pick the small golden brown bread for the medium black pan with handle", + "Pick the smooth loaf with rounded edges off the table and place it in the round pan with hole in handle.", + "Take the small loaf with curved top with the right arm and drop into the medium black pan with handle", + "Place the bread with warm golden color into the smooth round pan made of iron with the right arm.", + "Use the right arm to stick the bread with warm golden color into the medium black pan with handle.", + "Use the right arm to pick the light brown bread with ridges and place it into the medium black pan with handle.", + "Grab the bread with warm golden color and place it inside the versatile skillet for stovetop cooking.", + "Pick up the hand-sized oval loaf and place it in the round cooking pan.", + "Use the right arm to grab the small golden brown bread for the black skillet with smooth base", + "Put the bread with warm golden color into the smooth round pan made of iron after grabbing it", + "Lift the light brown loaf with smooth sides and drop it into the round pan with hole in handle.", + "Grab the soft brown bread using the right arm and place it in the black pan with curved edges", + "Pick the small golden brown bread and transfer it to the versatile skillet for stovetop cooking", + "Use the right arm to grab the light brown loaf with smooth sides for the black skillet with smooth base", + "Use the right arm to lift the small loaf with curved top and place it into the round pan with hole in handle.", + "Use the right arm to move the small golden brown bread and set it into the round pan with hole in handle.", + "Use the right arm to move the hand-sized oval loaf into the black skillet with smooth base", + "Take the soft brown bread and put it in the flat-bottomed skillet with long handle.", + "Move the golden bread loaf into the versatile skillet for stovetop cooking from the table", + "Grab the small golden brown bread with the right arm and place in the heavy black cooking skillet", + "Pick up the bread with split top with the right arm and drop it in the dark pan with sturdy grip", + "Take the bread with warm golden color and drop it into the solid dark-colored round pan.", + "Move the smooth loaf with rounded edges to the heavy black cooking skillet using the right arm", + "Take the bread with golden-brown crust and set it into the black skillet with smooth base", + "Place the small golden brown bread from the table into the black skillet with smooth base", + "Take the smooth loaf with rounded edges and place it inside the round cooking pan", + "Use the right arm to place the golden bread loaf into the solid dark-colored round pan", + "Grab the brown loaf and stick it in the heavy black cooking skillet.", + "Set the bread with split top into the skillet with extended grip handle after grabbing" + ], + "unseen": [ + "Move the oval bread to the black skillet using the right arm.", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Take the oval-shaped soft bread and put it in the black skillet", + "Grab the oval bread and set it in the black skillet", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Use the right arm to move the oval bread to the black skillet.", + "Grab the oval bread and place it into the black skillet.", + "Grab the oval bread and place it in the round cast-iron skillet", + "Pick the oval bread up and place it in the black skillet", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Take the oval bread and put it in the iron skillet for frying foods", + "Grab the oval bread and set it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Grab the rounded oval bread and place it into the black skillet.", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Move the oval bread to the round cast-iron skillet using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Take the rounded oval bread and put it in the black skillet", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Grab the oval bread and drop it into the iron skillet for frying foods.", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Grab the oval bread and place it into the black skillet.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Pick the rounded oval bread up and place it in the black skillet", + "Move the oval bread to the black skillet using the right arm.", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Use the right arm to move the oval bread to the iron skillet for frying foods.", + "Grab the oval bread and place it into the black skillet.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Grab the oval bread and set it in the black skillet", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Grab the oval bread and place it in the black skillet", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Take the oval bread and put it in the black skillet", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Pick the oval bread up and place it in the black skillet", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Take the rounded oval bread and put it in the round cast-iron skillet", + "Grab the oval bread and set it in the black skillet", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the black skillet", + "Grab the oval bread and drop it into the black skillet.", + "Use the right arm to move the oval bread to the black skillet.", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Grab the rounded oval bread and place it in the black skillet", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Pick up the oval bread and drop it into the black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Grab the oval bread and set it in the black skillet", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Grab the rounded oval bread and place it in the black skillet", + "Pick the oval bread up and place it in the round cast-iron skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode19.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode19.json new file mode 100644 index 0000000000000000000000000000000000000000..e6c016e18817188f9bdb393a0fdeb4024974ea6f --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode19.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the doughy and soft bread from the table into the hefty black skillet", + "Move the soft bread to the hefty black skillet using the right arm", + "Use the right arm to stick the golden bread into the gray pan.", + "Use the right arm to grab the bread with rough texture for the medium round cast iron skillet", + "Pick the square-shaped bread off the table and place it in the medium round cast iron skillet.", + "Grab the bread loaf with uneven edges from the table and set it in the pan with dark finish.", + "Move the light golden brown bread from table into the dark gray skillet", + "Use the right arm to pick the bread loaf with bumpy surface for the hefty black skillet", + "Pick the bread with rough texture with the right arm and set it in the pan with dark finish", + "Use the right arm to pick the bread loaf with uneven edges and place it into the dark gray skillet.", + "Place the bread block with light patches into the rounded skillet with a holey handle using the right arm", + "Grab the bread block with light patches using the right arm and place it in the rounded skillet with a holey handle", + "Lift the golden bread using the right arm and move it to the smooth round cooking skillet", + "Place the cuboid bread into the gray cooking pan with handle with the right arm.", + "Use the right arm to set the bread block with light patches into the pan with dark finish.", + "Grab the hand-sized bread block and stick it in the rounded skillet with a holey handle.", + "Use the right arm to lift the cuboid bread and place it into the skillet for cooking.", + "Use the right arm to pick the golden bread and put it in the smooth round cooking skillet", + "Transfer the square-shaped bread into the medium round cast iron skillet from the table", + "Use the right arm to pick the golden bread loaf up for the smooth cast iron skillet", + "Use the right arm to place the bread loaf with uneven edges into the skillet for cooking", + "Use the right arm to move the bread with rough texture and set it into the rounded skillet with a holey handle.", + "Take the golden bread off the table into the gray pan", + "Lift the square-shaped bread and drop it into the rounded skillet with a holey handle.", + "Pick up the bread block with light patches and put it in the medium skillet", + "Pick the golden bread loaf up using the right arm and drop it in the medium skillet.", + "Pick the hand-sized bread block and set it into the smooth cast iron skillet.", + "Set the soft bread into the skillet for cooking after grabbing", + "Grab the bread loaf with bumpy surface with the right arm and place in the smooth cast iron skillet", + "Pick up the cuboid bread and place it in the smooth cast iron skillet.", + "Put the golden bread into the gray cooking pan with handle.", + "Take the bread loaf with bumpy surface and place it inside the medium round cast iron skillet", + "Take the cuboid bread and set it into the dark gray skillet", + "Lift the hand-sized bread block and drop it into the rounded skillet with a holey handle", + "Grab the golden bread loaf and drop it into the pan with dark finish", + "Take the bread block with light patches and place it inside the gray pan", + "Pick up the cuboid bread with the right arm and drop it in the rounded skillet with a holey handle", + "Take the bread loaf with bumpy surface and drop it into the rounded skillet with a holey handle.", + "Grab the bread with rough texture and place it inside the gray cooking pan with handle.", + "Take the light golden brown bread and put it in the smooth cast iron skillet.", + "Grab the golden bread loaf and place it inside the round skillet with handle", + "Take the bread loaf with uneven edges with the right arm and drop into the gray cooking pan with handle", + "Use the right arm to grab the square-shaped bread for the smooth cast iron skillet", + "Use the right arm to grab the golden bread and set it in the skillet for cooking.", + "Pick the soft bread and transfer it to the rounded skillet with a holey handle", + "Put the golden bread loaf into the gray cooking pan with handle after grabbing it", + "Use the right arm to take the bread block with light patches and move it into the rounded skillet with a holey handle.", + "Move the bread loaf with uneven edges into the smooth cast iron skillet from the table", + "Use the right arm to move the doughy and soft bread into the medium skillet", + "Take the light golden brown bread and put it in the hefty black skillet.", + "Place the bread loaf with bumpy surface from the table into the dark gray skillet", + "Move the hand-sized bread block to the gray pan using the right arm", + "Use the right arm to stick the bread with rough texture into the medium skillet.", + "Use the right arm to grab the square-shaped bread for the rounded skillet with a holey handle", + "Pick the golden bread off the table and place it in the dark gray skillet.", + "Grab the golden bread loaf from the table and set it in the pan with dark finish.", + "Move the golden bread loaf from table into the smooth round cooking skillet", + "Use the right arm to pick the doughy and soft bread for the hefty black skillet", + "Pick the square-shaped bread with the right arm and set it in the pan with dark finish", + "Use the right arm to pick the doughy and soft bread and place it into the rounded skillet with a holey handle.", + "Place the doughy and soft bread into the round skillet with handle using the right arm", + "Grab the soft bread using the right arm and place it in the medium round cast iron skillet", + "Lift the bread with rough texture using the right arm and move it to the smooth cast iron skillet", + "Place the light golden brown bread into the skillet for cooking with the right arm.", + "Use the right arm to set the bread loaf with bumpy surface into the medium round cast iron skillet.", + "Grab the hand-sized bread block and stick it in the round skillet with handle.", + "Use the right arm to lift the bread loaf with uneven edges and place it into the smooth cast iron skillet.", + "Use the right arm to pick the golden bread loaf and put it in the gray pan", + "Transfer the hand-sized bread block into the gray pan from the table", + "Use the right arm to pick the bread loaf with uneven edges up for the round skillet with handle", + "Use the right arm to place the light golden brown bread into the dark gray skillet", + "Use the right arm to move the cuboid bread and set it into the pan with dark finish.", + "Take the doughy and soft bread off the table into the hefty black skillet", + "Lift the cuboid bread and drop it into the smooth round cooking skillet.", + "Pick up the bread loaf with bumpy surface and put it in the medium skillet", + "Pick the bread with rough texture up using the right arm and drop it in the medium skillet.", + "Pick the bread with rough texture and set it into the gray cooking pan with handle.", + "Set the hand-sized bread block into the medium round cast iron skillet after grabbing", + "Grab the doughy and soft bread with the right arm and place in the skillet for cooking", + "Pick up the light golden brown bread and place it in the smooth cast iron skillet.", + "Put the bread loaf with bumpy surface into the medium skillet.", + "Take the bread with rough texture and place it inside the smooth round cooking skillet", + "Take the bread block with light patches and set it into the round skillet with handle", + "Lift the bread with rough texture and drop it into the medium skillet", + "Grab the bread block with light patches and drop it into the skillet for cooking", + "Take the light golden brown bread and place it inside the gray pan", + "Pick up the square-shaped bread with the right arm and drop it in the hefty black skillet", + "Take the golden bread and drop it into the hefty black skillet.", + "Grab the bread with rough texture and place it inside the dark gray skillet.", + "Take the golden bread loaf and put it in the medium round cast iron skillet.", + "Grab the light golden brown bread and place it inside the dark gray skillet", + "Take the bread block with light patches with the right arm and drop into the round skillet with handle", + "Use the right arm to grab the bread block with light patches for the skillet for cooking", + "Use the right arm to grab the bread with rough texture and set it in the medium round cast iron skillet.", + "Pick the bread with rough texture and transfer it to the rounded skillet with a holey handle", + "Put the square-shaped bread into the skillet for cooking after grabbing it", + "Use the right arm to take the soft bread and move it into the medium skillet.", + "Move the bread block with light patches into the dark gray skillet from the table", + "Use the right arm to move the bread loaf with uneven edges into the smooth cast iron skillet", + "Take the bread loaf with uneven edges and put it in the smooth cast iron skillet." + ], + "unseen": [ + "Use the right arm to move the bread with golden crust to the cooking skillet with grippy handle.", + "Move the bread loaf with soft surface to the cooking skillet with grippy handle using the right arm.", + "Take the bread with golden crust and put it in the dark gray round cast iron pan", + "Use the right arm to grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Pick the bread loaf with soft surface up and place it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and drop it into the blackish-gray cast iron skillet.", + "Pick up the bread with golden crust and drop it into the dark gray round cast iron pan", + "Grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Use the right arm to move the bread loaf with soft surface to the dark gray round cast iron pan.", + "Move the bread loaf with soft surface to the blackish-gray cast iron skillet using the right arm.", + "Take the rectangular bread loaf and put it in the dark gray round cast iron pan", + "Use the right arm to grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Grab the bread with golden crust and place it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Pick the rectangular bread loaf up and place it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet.", + "Pick up the bread with golden crust and drop it into the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Use the right arm to move the bread with golden crust to the dark gray round cast iron pan.", + "Move the bread with golden crust to the dark gray round cast iron pan using the right arm.", + "Take the rectangular bread loaf and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and place it into the dark gray round cast iron pan.", + "Pick the rectangular bread loaf up and place it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet.", + "Pick up the rectangular bread loaf and drop it into the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Use the right arm to move the rectangular bread loaf to the cooking skillet with grippy handle.", + "Move the bread loaf with soft surface to the dark gray round cast iron pan using the right arm.", + "Take the bread with golden crust and put it in the blackish-gray cast iron skillet", + "Use the right arm to grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Grab the bread with golden crust and place it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and place it into the cooking skillet with grippy handle.", + "Pick the bread with golden crust up and place it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and drop it into the cooking skillet with grippy handle.", + "Pick up the rectangular bread loaf and drop it into the dark gray round cast iron pan", + "Grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Use the right arm to move the rectangular bread loaf to the dark gray round cast iron pan.", + "Move the bread with golden crust to the dark gray round cast iron pan using the right arm.", + "Take the bread loaf with soft surface and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and place it in the dark gray round cast iron pan", + "Grab the bread with golden crust and place it into the dark gray round cast iron pan.", + "Pick the bread loaf with soft surface up and place it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and drop it into the cooking skillet with grippy handle.", + "Pick up the rectangular bread loaf and drop it into the cooking skillet with grippy handle", + "Grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Use the right arm to move the bread loaf with soft surface to the blackish-gray cast iron skillet.", + "Move the bread with golden crust to the blackish-gray cast iron skillet using the right arm.", + "Take the bread with golden crust and put it in the blackish-gray cast iron skillet", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark gray round cast iron pan", + "Grab the bread with golden crust and place it in the blackish-gray cast iron skillet", + "Grab the bread with golden crust and place it into the cooking skillet with grippy handle.", + "Pick the bread loaf with soft surface up and place it in the cooking skillet with grippy handle", + "Grab the bread with golden crust and drop it into the blackish-gray cast iron skillet.", + "Pick up the rectangular bread loaf and drop it into the dark gray round cast iron pan", + "Grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Use the right arm to move the bread with golden crust to the cooking skillet with grippy handle.", + "Move the bread loaf with soft surface to the blackish-gray cast iron skillet using the right arm.", + "Take the rectangular bread loaf and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Grab the bread with golden crust and place it into the dark gray round cast iron pan.", + "Pick the bread loaf with soft surface up and place it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and drop it into the cooking skillet with grippy handle.", + "Pick up the rectangular bread loaf and drop it into the dark gray round cast iron pan", + "Grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Use the right arm to move the bread loaf with soft surface to the cooking skillet with grippy handle.", + "Move the rectangular bread loaf to the cooking skillet with grippy handle using the right arm.", + "Take the bread with golden crust and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and place it in the dark gray round cast iron pan", + "Grab the bread with golden crust and place it into the dark gray round cast iron pan.", + "Pick the bread with golden crust up and place it in the dark gray round cast iron pan", + "Grab the bread with golden crust and drop it into the dark gray round cast iron pan.", + "Pick up the bread loaf with soft surface and drop it into the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Use the right arm to move the bread with golden crust to the blackish-gray cast iron skillet.", + "Move the bread with golden crust to the dark gray round cast iron pan using the right arm.", + "Take the bread loaf with soft surface and put it in the dark gray round cast iron pan", + "Use the right arm to grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Grab the bread with golden crust and place it in the dark gray round cast iron pan", + "Grab the bread with golden crust and place it into the cooking skillet with grippy handle.", + "Pick the bread loaf with soft surface up and place it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and drop it into the cooking skillet with grippy handle.", + "Pick up the rectangular bread loaf and drop it into the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and set it in the dark gray round cast iron pan", + "Use the right arm to move the bread loaf with soft surface to the blackish-gray cast iron skillet.", + "Move the rectangular bread loaf to the blackish-gray cast iron skillet using the right arm.", + "Take the bread loaf with soft surface and put it in the dark gray round cast iron pan", + "Use the right arm to grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Grab the bread with golden crust and place it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Pick the bread loaf with soft surface up and place it in the blackish-gray cast iron skillet", + "Grab the bread with golden crust and drop it into the blackish-gray cast iron skillet.", + "Pick up the bread with golden crust and drop it into the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and set it in the dark gray round cast iron pan" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode2.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode2.json new file mode 100644 index 0000000000000000000000000000000000000000..34e95ab202321b958ae993dae5ee5a257f12a4aa --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode2.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the light brown loaf with smooth sides up using the right arm and drop it in the black iron skillet for cooking.", + "Use the right arm to pick the bread with golden-brown crust up for the black cooking tool skillet", + "Place the smooth loaf with rounded edges from the table into the heavy cast iron skillet", + "Grab the small golden brown bread with the right arm and place in the skillet with wide round base", + "Use the right arm to set the smooth loaf with rounded edges into the pan-shaped black skillet.", + "Pick up the smooth loaf with rounded edges and put it in the black cooking tool skillet", + "Use the right arm to pick the bread with split top and put it in the medium skillet with rough outside", + "Take the light brown bread with ridges with the right arm and drop into the black skillet", + "Set the bread with golden-brown crust into the medium skillet with rough outside after grabbing", + "Pick the bread with split top and set it into the black cooking tool skillet.", + "Use the right arm to stick the bread with golden-brown crust into the black skillet.", + "Use the right arm to lift the bread with warm golden color and place it into the black skillet for frying foods.", + "Use the right arm to grab the smooth loaf with rounded edges for the flat-bottomed black cast iron skillet", + "Take the light brown bread with ridges and place it inside the black skillet", + "Use the right arm to grab the golden bread loaf for the skillet with looped handle", + "Use the right arm to pick the small loaf with curved top and place it into the skillet with looped handle.", + "Grab the golden bread loaf and place it inside the medium skillet with rough outside.", + "Take the brown loaf and set it into the medium skillet with rough outside", + "Pick the hand-sized oval loaf with the right arm and set it in the heavy cast iron skillet", + "Place the brown loaf into the skillet with wide round base using the right arm", + "Lift the smooth loaf with rounded edges and drop it into the skillet with sturdy material.", + "Use the right arm to move the small golden brown bread into the medium skillet with rough outside", + "Take the bread with golden-brown crust and put it in the black skillet.", + "Use the right arm to move the soft brown bread and set it into the black skillet.", + "Use the right arm to place the small loaf with curved top into the black cooking tool skillet", + "Move the small golden brown bread into the skillet with wide round base from the table", + "Take the smooth loaf with rounded edges and put it in the black skillet for frying foods.", + "Use the right arm to grab the bread with warm golden color and set it in the medium skillet with rough outside.", + "Pick the light brown loaf with smooth sides and transfer it to the skillet with looped handle", + "Lift the bread with split top and drop it into the pan-shaped black skillet", + "Grab the small golden brown bread using the right arm and place it in the skillet with looped handle", + "Pick up the bread with warm golden color and place it in the medium skillet with rough outside.", + "Move the bread with golden-brown crust to the skillet with wide round base using the right arm", + "Pick up the light brown bread with ridges with the right arm and drop it in the black iron skillet for cooking", + "Put the brown loaf into the black skillet for frying foods after grabbing it", + "Take the small loaf with curved top off the table into the black skillet for frying foods", + "Grab the small loaf with curved top from the table and set it in the skillet with wide round base.", + "Use the right arm to take the brown loaf and move it into the black iron skillet for cooking.", + "Take the small loaf with curved top and drop it into the black iron skillet for cooking.", + "Place the soft brown bread into the medium skillet with rough outside with the right arm.", + "Transfer the small loaf with curved top into the skillet with looped handle from the table", + "Put the light brown loaf with smooth sides into the black iron skillet for cooking.", + "Grab the light brown bread with ridges and place it inside the pan-shaped black skillet", + "Move the smooth loaf with rounded edges from table into the skillet with looped handle", + "Lift the golden bread loaf using the right arm and move it to the skillet with looped handle", + "Grab the soft brown bread and stick it in the skillet with looped handle.", + "Grab the golden bread loaf and drop it into the black skillet", + "Use the right arm to pick the hand-sized oval loaf for the skillet with wide round base", + "Pick the bread with split top off the table and place it in the skillet with looped handle.", + "Take the hand-sized oval loaf and place it inside the flat-bottomed black cast iron skillet", + "Pick the hand-sized oval loaf up using the right arm and drop it in the black cooking tool skillet.", + "Use the right arm to pick the small golden brown bread up for the flat-bottomed black cast iron skillet", + "Place the golden bread loaf from the table into the black iron skillet for cooking", + "Grab the light brown loaf with smooth sides with the right arm and place in the heavy cast iron skillet", + "Use the right arm to set the hand-sized oval loaf into the skillet with wide round base.", + "Pick up the small golden brown bread and put it in the heavy cast iron skillet", + "Use the right arm to pick the hand-sized oval loaf and put it in the black iron skillet for cooking", + "Take the soft brown bread with the right arm and drop into the skillet with sturdy material", + "Set the bread with warm golden color into the flat-bottomed black cast iron skillet after grabbing", + "Pick the light brown loaf with smooth sides and set it into the medium skillet with rough outside.", + "Use the right arm to stick the bread with warm golden color into the medium skillet with rough outside.", + "Use the right arm to lift the soft brown bread and place it into the skillet with wide round base.", + "Use the right arm to grab the light brown bread with ridges for the black cooking tool skillet", + "Take the bread with split top and place it inside the skillet with looped handle", + "Use the right arm to grab the light brown loaf with smooth sides for the medium skillet with rough outside", + "Use the right arm to pick the light brown bread with ridges and place it into the black cooking tool skillet.", + "Grab the bread with golden-brown crust and place it inside the black cooking tool skillet.", + "Take the light brown loaf with smooth sides and set it into the black skillet", + "Pick the small golden brown bread with the right arm and set it in the flat-bottomed black cast iron skillet", + "Place the small golden brown bread into the skillet with wide round base using the right arm", + "Lift the bread with split top and drop it into the black skillet for frying foods.", + "Use the right arm to move the soft brown bread into the flat-bottomed black cast iron skillet", + "Take the bread with split top and put it in the medium skillet with rough outside.", + "Use the right arm to move the small golden brown bread and set it into the heavy cast iron skillet.", + "Use the right arm to place the smooth loaf with rounded edges into the skillet with looped handle", + "Move the golden bread loaf into the black skillet for frying foods from the table", + "Take the golden bread loaf and put it in the black cooking tool skillet.", + "Use the right arm to grab the smooth loaf with rounded edges and set it in the black cooking tool skillet.", + "Pick the hand-sized oval loaf and transfer it to the pan-shaped black skillet", + "Lift the soft brown bread and drop it into the flat-bottomed black cast iron skillet", + "Grab the light brown bread with ridges using the right arm and place it in the black skillet with long handle", + "Pick up the light brown loaf with smooth sides and place it in the black skillet with long handle.", + "Move the golden bread loaf to the skillet with sturdy material using the right arm", + "Pick up the brown loaf with the right arm and drop it in the black iron skillet for cooking", + "Put the smooth loaf with rounded edges into the black iron skillet for cooking after grabbing it", + "Take the soft brown bread off the table into the skillet with wide round base", + "Grab the golden bread loaf from the table and set it in the black iron skillet for cooking.", + "Use the right arm to take the brown loaf and move it into the black skillet.", + "Take the light brown bread with ridges and drop it into the flat-bottomed black cast iron skillet.", + "Place the brown loaf into the black skillet for frying foods with the right arm.", + "Transfer the small golden brown bread into the black cooking tool skillet from the table", + "Put the light brown loaf with smooth sides into the medium skillet with rough outside.", + "Grab the light brown loaf with smooth sides and place it inside the black skillet", + "Move the small loaf with curved top from table into the black skillet for frying foods", + "Lift the bread with split top using the right arm and move it to the black cooking tool skillet", + "Grab the small golden brown bread and stick it in the pan-shaped black skillet.", + "Grab the bread with warm golden color and drop it into the black cooking tool skillet", + "Use the right arm to pick the smooth loaf with rounded edges for the black skillet for frying foods", + "Pick the soft brown bread off the table and place it in the skillet with looped handle.", + "Take the golden bread loaf and place it inside the pan-shaped black skillet" + ], + "unseen": [ + "Grab the rounded oval bread and place it into the medium black frying skillet.", + "Use the right arm to grab the oval bread and set it in the medium black frying skillet", + "Use the right arm to move the rounded oval bread to the medium black frying skillet.", + "Take the oval bread and put it in the medium black frying skillet", + "Pick the oval bread up and place it in the medium black frying skillet", + "Move the rounded oval bread to the smooth interior skillet using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the smooth interior skillet", + "Grab the rounded oval bread and set it in the round black skillet", + "Grab the oval-shaped soft bread and drop it into the smooth interior skillet.", + "Grab the rounded oval bread and place it in the medium black frying skillet", + "Grab the oval bread and place it into the medium black frying skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the round black skillet", + "Use the right arm to move the oval-shaped soft bread to the round black skillet.", + "Take the rounded oval bread and put it in the smooth interior skillet", + "Pick the rounded oval bread up and place it in the medium black frying skillet", + "Move the oval bread to the smooth interior skillet using the right arm.", + "Pick up the oval bread and drop it into the smooth interior skillet", + "Grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Grab the oval-shaped soft bread and drop it into the round black skillet.", + "Grab the oval-shaped soft bread and place it in the smooth interior skillet", + "Grab the oval bread and place it into the smooth interior skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Use the right arm to move the oval bread to the round black skillet.", + "Take the oval-shaped soft bread and put it in the medium black frying skillet", + "Pick the oval-shaped soft bread up and place it in the medium black frying skillet", + "Move the oval bread to the smooth interior skillet using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the smooth interior skillet", + "Grab the rounded oval bread and set it in the smooth interior skillet", + "Grab the rounded oval bread and drop it into the smooth interior skillet.", + "Grab the oval-shaped soft bread and place it in the round black skillet", + "Grab the oval bread and place it into the medium black frying skillet.", + "Use the right arm to grab the rounded oval bread and set it in the round black skillet", + "Use the right arm to move the oval bread to the round black skillet.", + "Take the oval bread and put it in the medium black frying skillet", + "Pick the rounded oval bread up and place it in the round black skillet", + "Move the oval bread to the smooth interior skillet using the right arm.", + "Pick up the oval bread and drop it into the medium black frying skillet", + "Grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Grab the oval-shaped soft bread and drop it into the round black skillet.", + "Grab the oval bread and place it in the round black skillet", + "Grab the rounded oval bread and place it into the medium black frying skillet.", + "Use the right arm to grab the rounded oval bread and set it in the round black skillet", + "Use the right arm to move the rounded oval bread to the medium black frying skillet.", + "Take the oval-shaped soft bread and put it in the medium black frying skillet", + "Pick the oval bread up and place it in the smooth interior skillet", + "Move the oval bread to the smooth interior skillet using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the medium black frying skillet", + "Grab the rounded oval bread and set it in the medium black frying skillet", + "Grab the rounded oval bread and drop it into the medium black frying skillet.", + "Grab the oval-shaped soft bread and place it in the smooth interior skillet", + "Grab the rounded oval bread and place it into the medium black frying skillet.", + "Use the right arm to grab the rounded oval bread and set it in the smooth interior skillet", + "Use the right arm to move the oval bread to the medium black frying skillet.", + "Take the oval-shaped soft bread and put it in the medium black frying skillet", + "Pick the rounded oval bread up and place it in the smooth interior skillet", + "Move the rounded oval bread to the smooth interior skillet using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the medium black frying skillet", + "Grab the rounded oval bread and set it in the medium black frying skillet", + "Grab the oval bread and drop it into the round black skillet.", + "Grab the rounded oval bread and place it in the smooth interior skillet", + "Grab the oval bread and place it into the medium black frying skillet.", + "Use the right arm to grab the rounded oval bread and set it in the smooth interior skillet", + "Use the right arm to move the rounded oval bread to the round black skillet.", + "Take the oval bread and put it in the round black skillet", + "Pick the rounded oval bread up and place it in the round black skillet", + "Move the oval-shaped soft bread to the medium black frying skillet using the right arm.", + "Pick up the rounded oval bread and drop it into the round black skillet", + "Grab the rounded oval bread and set it in the smooth interior skillet", + "Grab the rounded oval bread and drop it into the smooth interior skillet.", + "Grab the oval bread and place it in the round black skillet", + "Grab the oval-shaped soft bread and place it into the round black skillet.", + "Use the right arm to grab the rounded oval bread and set it in the smooth interior skillet", + "Use the right arm to move the rounded oval bread to the medium black frying skillet.", + "Take the oval bread and put it in the medium black frying skillet", + "Pick the rounded oval bread up and place it in the medium black frying skillet", + "Move the rounded oval bread to the medium black frying skillet using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the round black skillet", + "Grab the oval-shaped soft bread and set it in the smooth interior skillet", + "Grab the oval-shaped soft bread and drop it into the round black skillet.", + "Grab the rounded oval bread and place it in the smooth interior skillet", + "Grab the oval-shaped soft bread and place it into the smooth interior skillet.", + "Use the right arm to grab the oval bread and set it in the smooth interior skillet", + "Use the right arm to move the oval bread to the round black skillet.", + "Take the oval-shaped soft bread and put it in the smooth interior skillet", + "Pick the oval-shaped soft bread up and place it in the smooth interior skillet", + "Move the oval-shaped soft bread to the medium black frying skillet using the right arm.", + "Pick up the rounded oval bread and drop it into the medium black frying skillet", + "Grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Grab the rounded oval bread and drop it into the medium black frying skillet.", + "Grab the oval-shaped soft bread and place it in the medium black frying skillet", + "Grab the oval bread and place it into the smooth interior skillet.", + "Use the right arm to grab the rounded oval bread and set it in the round black skillet", + "Use the right arm to move the oval-shaped soft bread to the round black skillet.", + "Take the rounded oval bread and put it in the smooth interior skillet", + "Pick the oval-shaped soft bread up and place it in the smooth interior skillet", + "Move the rounded oval bread to the round black skillet using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the medium black frying skillet", + "Grab the oval-shaped soft bread and set it in the medium black frying skillet", + "Grab the oval bread and drop it into the smooth interior skillet.", + "Grab the oval bread and place it in the smooth interior skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode20.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode20.json new file mode 100644 index 0000000000000000000000000000000000000000..a5e5d9c2ef46c9493a031cac3299fb8ceb1d79f6 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode20.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the hand-sized oval loaf to the flat-bottom skillet using the right arm", + "Use the right arm to pick the hand-sized oval loaf for the gray skillet for stovetop cooking", + "Use the right arm to move the small golden brown bread and set it into the black-surfaced skillet with gray sides.", + "Pick the bread with golden-brown crust and transfer it to the smooth non-stick skillet", + "Place the smooth loaf with rounded edges from the table into the skillet with black cooking surface", + "Grab the light brown loaf with smooth sides and place it inside the metal skillet", + "Grab the light brown bread with ridges and stick it in the skillet with black cooking surface.", + "Take the bread with warm golden color and set it into the smooth non-stick skillet", + "Take the soft brown bread with the right arm and drop into the round skillet with handle", + "Place the bread with golden-brown crust into the round skillet with handle with the right arm.", + "Use the right arm to pick the bread with split top and place it into the metal skillet.", + "Lift the bread with golden-brown crust and drop it into the black-surfaced skillet with gray sides.", + "Grab the bread with warm golden color using the right arm and place it in the metal skillet", + "Use the right arm to lift the soft brown bread and place it into the round skillet with open handle end.", + "Grab the bread with golden-brown crust and place it inside the black-surfaced skillet with gray sides.", + "Lift the soft brown bread and drop it into the medium-sized frying skillet", + "Pick up the bread with warm golden color and place it in the round skillet with open handle end.", + "Use the right arm to pick the golden bread loaf up for the skillet with black cooking surface", + "Set the bread with golden-brown crust into the round skillet with open handle end after grabbing", + "Use the right arm to move the golden bread loaf into the skillet with black cooking surface", + "Grab the small loaf with curved top from the table and set it in the flat-bottom skillet.", + "Transfer the small golden brown bread into the gray skillet for stovetop cooking from the table", + "Pick the bread with warm golden color with the right arm and set it in the metal skillet", + "Place the hand-sized oval loaf into the round skillet with open handle end using the right arm", + "Use the right arm to set the bread with split top into the round skillet with open handle end.", + "Put the hand-sized oval loaf into the metal skillet with comfortable grip.", + "Pick the golden bread loaf up using the right arm and drop it in the medium-sized frying skillet.", + "Use the right arm to place the soft brown bread into the dark gray skillet", + "Take the bread with warm golden color and put it in the metal skillet.", + "Take the small loaf with curved top and put it in the dark gray skillet.", + "Move the small golden brown bread into the skillet with black cooking surface from the table", + "Pick the light brown bread with ridges off the table and place it in the round skillet with handle.", + "Use the right arm to take the golden bread loaf and move it into the metal skillet.", + "Lift the smooth loaf with rounded edges using the right arm and move it to the metal skillet with comfortable grip", + "Use the right arm to stick the light brown loaf with smooth sides into the smooth non-stick skillet.", + "Grab the smooth loaf with rounded edges with the right arm and place in the round skillet with open handle end", + "Take the small golden brown bread and place it inside the smooth non-stick skillet", + "Use the right arm to pick the bread with split top and put it in the medium-sized frying skillet", + "Use the right arm to grab the brown loaf for the skillet with black cooking surface", + "Move the bread with warm golden color from table into the skillet with black cooking surface", + "Take the light brown loaf with smooth sides and drop it into the skillet with black cooking surface.", + "Grab the bread with golden-brown crust and drop it into the medium-sized frying skillet", + "Use the right arm to grab the bread with warm golden color for the round skillet with handle", + "Pick the light brown loaf with smooth sides and set it into the metal skillet.", + "Pick up the smooth loaf with rounded edges with the right arm and drop it in the round skillet with open handle end", + "Pick up the golden bread loaf and put it in the dark gray skillet", + "Take the brown loaf and place it inside the black-surfaced skillet with gray sides", + "Use the right arm to grab the small loaf with curved top and set it in the smooth non-stick skillet.", + "Take the bread with split top off the table into the round skillet with open handle end", + "Put the bread with split top into the medium-sized frying skillet after grabbing it", + "Move the soft brown bread to the smooth non-stick skillet using the right arm", + "Use the right arm to pick the bread with split top for the flat-bottom skillet", + "Use the right arm to move the small golden brown bread and set it into the round skillet with open handle end.", + "Pick the small golden brown bread and transfer it to the smooth non-stick skillet", + "Place the bread with warm golden color from the table into the black-surfaced skillet with gray sides", + "Grab the light brown bread with ridges and place it inside the skillet with black cooking surface", + "Grab the bread with golden-brown crust and stick it in the medium-sized frying skillet.", + "Take the light brown loaf with smooth sides and set it into the gray skillet for stovetop cooking", + "Take the bread with split top with the right arm and drop into the medium-sized frying skillet", + "Place the golden bread loaf into the skillet for frying food with the right arm.", + "Use the right arm to pick the light brown loaf with smooth sides and place it into the round skillet with handle.", + "Lift the small loaf with curved top and drop it into the round skillet with open handle end.", + "Grab the soft brown bread using the right arm and place it in the round skillet with open handle end", + "Use the right arm to lift the bread with golden-brown crust and place it into the metal skillet with comfortable grip.", + "Grab the bread with golden-brown crust and place it inside the medium-sized frying skillet.", + "Lift the light brown bread with ridges and drop it into the round skillet with handle", + "Pick up the small loaf with curved top and place it in the metal skillet.", + "Use the right arm to pick the small golden brown bread up for the medium-sized frying skillet", + "Set the light brown bread with ridges into the black-surfaced skillet with gray sides after grabbing", + "Use the right arm to move the bread with split top into the skillet with black cooking surface", + "Grab the brown loaf from the table and set it in the skillet for frying food.", + "Transfer the smooth loaf with rounded edges into the skillet for frying food from the table", + "Pick the brown loaf with the right arm and set it in the metal skillet with comfortable grip", + "Place the light brown loaf with smooth sides into the gray skillet for stovetop cooking using the right arm", + "Use the right arm to set the hand-sized oval loaf into the flat-bottom skillet.", + "Put the smooth loaf with rounded edges into the black-surfaced skillet with gray sides.", + "Pick the bread with split top up using the right arm and drop it in the round skillet with open handle end.", + "Use the right arm to place the golden bread loaf into the medium-sized frying skillet", + "Take the soft brown bread and put it in the metal skillet.", + "Take the golden bread loaf and put it in the round skillet with handle.", + "Move the soft brown bread into the medium-sized frying skillet from the table", + "Pick the light brown loaf with smooth sides off the table and place it in the metal skillet.", + "Use the right arm to take the bread with golden-brown crust and move it into the flat-bottom skillet.", + "Lift the light brown bread with ridges using the right arm and move it to the medium-sized frying skillet", + "Use the right arm to stick the hand-sized oval loaf into the gray skillet for stovetop cooking.", + "Grab the small golden brown bread with the right arm and place in the dark gray skillet", + "Take the golden bread loaf and place it inside the metal skillet with comfortable grip", + "Use the right arm to pick the light brown loaf with smooth sides and put it in the flat-bottom skillet", + "Use the right arm to grab the brown loaf for the smooth non-stick skillet", + "Move the golden bread loaf from table into the black-surfaced skillet with gray sides", + "Take the bread with split top and drop it into the round skillet with handle.", + "Grab the small golden brown bread and drop it into the metal skillet with comfortable grip", + "Use the right arm to grab the hand-sized oval loaf for the dark gray skillet", + "Pick the brown loaf and set it into the medium-sized frying skillet.", + "Pick up the hand-sized oval loaf with the right arm and drop it in the dark gray skillet", + "Pick up the light brown bread with ridges and put it in the medium-sized frying skillet", + "Take the light brown loaf with smooth sides and place it inside the dark gray skillet", + "Use the right arm to grab the hand-sized oval loaf and set it in the skillet with black cooking surface.", + "Take the bread with split top off the table into the black-surfaced skillet with gray sides", + "Put the light brown bread with ridges into the round skillet with open handle end after grabbing it" + ], + "unseen": [ + "Grab the oval-shaped soft bread and place it in the dark skillet with shiny finish", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Move the oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Grab the oval bread and set it in the dark skillet with shiny finish", + "Use the right arm to grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it in the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the oval bread to the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Grab the oval bread and set it in the dark skillet with shiny finish", + "Use the right arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Move the rounded oval bread to the dark skillet with shiny finish using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the oval bread to the dark skillet with shiny finish.", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Take the oval-shaped soft bread and put it in the dark skillet with shiny finish", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Grab the oval bread and set it in the dark skillet with shiny finish", + "Use the right arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the right arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the right arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Use the right arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Take the oval bread and put it in the dark skillet with shiny finish", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Use the right arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode21.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode21.json new file mode 100644 index 0000000000000000000000000000000000000000..c360743a6e65bd7826c16fefd55ac5e1d389649b --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode21.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Put the round bread with braided top into the versatile skillet for stovetop cooking after grabbing it", + "Set the round bread with crusty texture into the round cooking pan after grabbing", + "Pick up the round bread with braided top and put it in the smooth round pan made of iron", + "Pick the golden brown bread with braided design and transfer it to the black pan with curved edges", + "Lift the braided bread loaf and drop it into the versatile skillet for stovetop cooking", + "Use the right arm to set the golden brown bread with braided design into the smooth round pan made of iron.", + "Use the right arm to take the golden brown bread with braided design and move it into the versatile skillet for stovetop cooking.", + "Grab the golden brown bread with braided design using the right arm and place it in the smooth round pan made of iron", + "Use the right arm to stick the bread with golden crust into the medium black pan with handle.", + "Grab the round bread with braided top and place it inside the dark pan with sturdy grip", + "Use the right arm to lift the round bread with braided top and place it into the round pan with hole in handle.", + "Use the right arm to pick the bread with golden crust up for the black skillet with smooth base", + "Use the right arm to pick the smooth crusty small bread and put it in the flat-bottomed skillet with long handle", + "Lift the bread with golden crust using the right arm and move it to the round pan with hole in handle", + "Pick the soft golden bread up using the right arm and drop it in the smooth round pan made of iron.", + "Grab the round bread with crusty texture and drop it into the round pan with hole in handle", + "Grab the braided bread loaf with the right arm and place in the round cooking pan", + "Pick the soft doughy bread and set it into the versatile skillet for stovetop cooking.", + "Use the right arm to place the soft golden bread into the round pan with hole in handle", + "Place the small bread into the round cooking pan using the right arm", + "Take the bread with golden crust and place it inside the black pan with curved edges", + "Take the soft doughy bread off the table into the smooth round pan made of iron", + "Use the right arm to pick the small golden baked bread and place it into the solid dark-colored round pan.", + "Take the round bread with crusty texture and drop it into the black skillet with smooth base.", + "Use the right arm to pick the bread with golden crust for the solid dark-colored round pan", + "Take the bread with golden crust and set it into the black skillet with smooth base", + "Use the right arm to move the braided bread loaf into the smooth round pan made of iron", + "Put the small golden baked bread into the skillet with extended grip handle.", + "Move the small bread into the black skillet with smooth base from the table", + "Use the right arm to move the bread with golden crust and set it into the medium black pan with handle.", + "Grab the round bread with braided top from the table and set it in the flat-bottomed skillet with long handle.", + "Use the right arm to grab the smooth crusty small bread and set it in the medium black pan with handle.", + "Move the golden brown bread from table into the skillet with extended grip handle", + "Pick up the golden brown bread and place it in the solid dark-colored round pan.", + "Place the bread with golden crust into the dark pan with sturdy grip with the right arm.", + "Pick the round bread with braided top with the right arm and set it in the smooth round pan made of iron", + "Grab the soft doughy bread and stick it in the medium black pan with handle.", + "Take the golden brown bread with braided design and place it inside the round pan with hole in handle", + "Take the golden brown bread and put it in the skillet with extended grip handle.", + "Move the golden bread loaf with soft inside to the dark pan with sturdy grip using the right arm", + "Pick the braided bread loaf off the table and place it in the round cooking pan.", + "Take the smooth crusty small bread and put it in the black pan with curved edges.", + "Take the round bread with braided top with the right arm and drop into the versatile skillet for stovetop cooking", + "Use the right arm to grab the bread with golden crust for the dark pan with sturdy grip", + "Use the right arm to grab the small bread for the round pan with hole in handle", + "Grab the smooth crusty small bread and place it inside the solid dark-colored round pan.", + "Lift the soft golden bread and drop it into the round cooking pan.", + "Transfer the soft golden bread into the dark pan with sturdy grip from the table", + "Pick up the soft golden bread with the right arm and drop it in the medium black pan with handle", + "Place the bread with golden crust from the table into the black skillet with smooth base", + "Put the small golden baked bread into the black pan with curved edges after grabbing it", + "Set the small golden baked bread into the dark pan with sturdy grip after grabbing", + "Pick up the small bread and put it in the solid dark-colored round pan", + "Pick the golden brown bread with braided design and transfer it to the solid dark-colored round pan", + "Lift the small bread and drop it into the round pan with hole in handle", + "Use the right arm to set the bread with golden crust into the round cooking pan.", + "Use the right arm to take the braided bread loaf and move it into the solid dark-colored round pan.", + "Grab the golden brown bread using the right arm and place it in the solid dark-colored round pan", + "Use the right arm to stick the round bread with braided top into the solid dark-colored round pan.", + "Grab the golden brown bread and place it inside the black skillet with smooth base", + "Use the right arm to lift the golden bread loaf with soft inside and place it into the black pan with curved edges.", + "Use the right arm to pick the soft golden bread up for the heavy black cooking skillet", + "Use the right arm to pick the golden bread loaf with soft inside and put it in the versatile skillet for stovetop cooking", + "Lift the golden bread loaf with soft inside using the right arm and move it to the smooth round pan made of iron", + "Pick the round bread with crusty texture up using the right arm and drop it in the heavy black cooking skillet.", + "Grab the small bread and drop it into the flat-bottomed skillet with long handle", + "Grab the soft golden bread with the right arm and place in the black skillet with smooth base", + "Pick the golden brown bread with braided design and set it into the flat-bottomed skillet with long handle.", + "Use the right arm to place the golden bread loaf with soft inside into the heavy black cooking skillet", + "Place the soft golden bread into the heavy black cooking skillet using the right arm", + "Take the golden brown bread and place it inside the medium black pan with handle", + "Take the round bread with crusty texture off the table into the heavy black cooking skillet", + "Use the right arm to pick the golden brown bread and place it into the smooth round pan made of iron.", + "Take the golden brown bread and drop it into the round cooking pan.", + "Use the right arm to pick the golden bread loaf with soft inside for the round pan with hole in handle", + "Take the golden brown bread and set it into the solid dark-colored round pan", + "Use the right arm to move the round bread with crusty texture into the versatile skillet for stovetop cooking", + "Put the golden brown bread into the flat-bottomed skillet with long handle.", + "Move the soft doughy bread into the flat-bottomed skillet with long handle from the table", + "Use the right arm to move the soft doughy bread and set it into the heavy black cooking skillet.", + "Grab the round bread with crusty texture from the table and set it in the black pan with curved edges.", + "Use the right arm to grab the round bread with braided top and set it in the skillet with extended grip handle.", + "Move the round bread with braided top from table into the versatile skillet for stovetop cooking", + "Pick up the small golden baked bread and place it in the solid dark-colored round pan.", + "Place the smooth crusty small bread into the round cooking pan with the right arm.", + "Pick the round bread with crusty texture with the right arm and set it in the round pan with hole in handle", + "Grab the golden bread loaf with soft inside and stick it in the skillet with extended grip handle.", + "Take the round bread with crusty texture and place it inside the round cooking pan", + "Take the round bread with braided top and put it in the heavy black cooking skillet.", + "Move the soft doughy bread to the smooth round pan made of iron using the right arm", + "Pick the soft golden bread off the table and place it in the black pan with curved edges.", + "Take the smooth crusty small bread and put it in the flat-bottomed skillet with long handle.", + "Take the golden brown bread with the right arm and drop into the black pan with curved edges", + "Use the right arm to grab the golden bread loaf with soft inside for the black skillet with smooth base", + "Use the right arm to grab the braided bread loaf for the medium black pan with handle", + "Grab the soft doughy bread and place it inside the smooth round pan made of iron.", + "Lift the soft golden bread and drop it into the versatile skillet for stovetop cooking.", + "Transfer the golden bread loaf with soft inside into the round cooking pan from the table", + "Pick up the round bread with crusty texture with the right arm and drop it in the medium black pan with handle", + "Place the round bread with braided top from the table into the black pan with curved edges" + ], + "unseen": [ + "Move the round braided loaf to the black skillet using the right arm.", + "Grab the palm-sized braided golden bread and drop it into the round cast-iron skillet.", + "Use the right arm to move the braided top round bread to the iron skillet for frying foods.", + "Use the right arm to grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and place it in the round cast-iron skillet", + "Grab the round braided loaf and set it in the round cast-iron skillet", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Pick the braided top round bread up and place it in the round cast-iron skillet", + "Take the round braided loaf and put it in the black skillet", + "Grab the palm-sized braided golden bread and place it into the black skillet.", + "Move the palm-sized braided golden bread to the round cast-iron skillet using the right arm.", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Use the right arm to move the braided top round bread to the black skillet.", + "Use the right arm to grab the braided top round bread and set it in the black skillet", + "Grab the braided top round bread and place it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Pick up the palm-sized braided golden bread and drop it into the iron skillet for frying foods", + "Pick the palm-sized braided golden bread up and place it in the round cast-iron skillet", + "Take the palm-sized braided golden bread and put it in the black skillet", + "Grab the palm-sized braided golden bread and place it into the black skillet.", + "Move the round braided loaf to the round cast-iron skillet using the right arm.", + "Grab the braided top round bread and drop it into the iron skillet for frying foods.", + "Use the right arm to move the braided top round bread to the iron skillet for frying foods.", + "Use the right arm to grab the palm-sized braided golden bread and set it in the black skillet", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and set it in the black skillet", + "Pick up the round braided loaf and drop it into the round cast-iron skillet", + "Pick the round braided loaf up and place it in the black skillet", + "Take the braided top round bread and put it in the iron skillet for frying foods", + "Grab the braided top round bread and place it into the round cast-iron skillet.", + "Move the palm-sized braided golden bread to the black skillet using the right arm.", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Use the right arm to move the braided top round bread to the round cast-iron skillet.", + "Use the right arm to grab the braided top round bread and set it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and place it in the round cast-iron skillet", + "Grab the braided top round bread and set it in the black skillet", + "Pick up the braided top round bread and drop it into the iron skillet for frying foods", + "Pick the braided top round bread up and place it in the black skillet", + "Take the braided top round bread and put it in the black skillet", + "Grab the palm-sized braided golden bread and place it into the iron skillet for frying foods.", + "Move the round braided loaf to the iron skillet for frying foods using the right arm.", + "Grab the braided top round bread and drop it into the black skillet.", + "Use the right arm to move the palm-sized braided golden bread to the round cast-iron skillet.", + "Use the right arm to grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and place it in the black skillet", + "Grab the braided top round bread and set it in the iron skillet for frying foods", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Pick the round braided loaf up and place it in the iron skillet for frying foods", + "Take the round braided loaf and put it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and place it into the iron skillet for frying foods.", + "Move the round braided loaf to the black skillet using the right arm.", + "Grab the palm-sized braided golden bread and drop it into the round cast-iron skillet.", + "Use the right arm to move the palm-sized braided golden bread to the round cast-iron skillet.", + "Use the right arm to grab the round braided loaf and set it in the black skillet", + "Grab the braided top round bread and place it in the black skillet", + "Grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Pick the palm-sized braided golden bread up and place it in the round cast-iron skillet", + "Take the palm-sized braided golden bread and put it in the black skillet", + "Grab the round braided loaf and place it into the iron skillet for frying foods.", + "Move the palm-sized braided golden bread to the black skillet using the right arm.", + "Grab the braided top round bread and drop it into the iron skillet for frying foods.", + "Use the right arm to move the palm-sized braided golden bread to the round cast-iron skillet.", + "Use the right arm to grab the round braided loaf and set it in the round cast-iron skillet", + "Grab the braided top round bread and place it in the iron skillet for frying foods", + "Grab the round braided loaf and set it in the black skillet", + "Pick up the round braided loaf and drop it into the black skillet", + "Pick the braided top round bread up and place it in the black skillet", + "Take the braided top round bread and put it in the round cast-iron skillet", + "Grab the braided top round bread and place it into the round cast-iron skillet.", + "Move the braided top round bread to the black skillet using the right arm.", + "Grab the round braided loaf and drop it into the black skillet.", + "Use the right arm to move the round braided loaf to the black skillet.", + "Use the right arm to grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Grab the braided top round bread and place it in the round cast-iron skillet", + "Grab the braided top round bread and set it in the round cast-iron skillet", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Pick the round braided loaf up and place it in the round cast-iron skillet", + "Take the round braided loaf and put it in the round cast-iron skillet", + "Grab the braided top round bread and place it into the round cast-iron skillet.", + "Move the palm-sized braided golden bread to the iron skillet for frying foods using the right arm.", + "Grab the palm-sized braided golden bread and drop it into the iron skillet for frying foods.", + "Use the right arm to move the round braided loaf to the iron skillet for frying foods.", + "Use the right arm to grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Grab the braided top round bread and place it in the iron skillet for frying foods", + "Grab the round braided loaf and set it in the iron skillet for frying foods", + "Pick up the palm-sized braided golden bread and drop it into the iron skillet for frying foods", + "Pick the palm-sized braided golden bread up and place it in the black skillet", + "Take the braided top round bread and put it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and place it into the round cast-iron skillet.", + "Move the palm-sized braided golden bread to the iron skillet for frying foods using the right arm.", + "Grab the braided top round bread and drop it into the round cast-iron skillet.", + "Use the right arm to move the round braided loaf to the black skillet.", + "Use the right arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Pick up the palm-sized braided golden bread and drop it into the black skillet", + "Pick the braided top round bread up and place it in the black skillet", + "Take the palm-sized braided golden bread and put it in the round cast-iron skillet", + "Grab the braided top round bread and place it into the black skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode22.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode22.json new file mode 100644 index 0000000000000000000000000000000000000000..fd7f10c37a2c91494cda63d14eed8cfe70b689fc --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode22.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the golden bread loaf with soft inside off the table into the round cooking pan", + "Move the round bread with crusty texture from table into the black skillet with smooth base", + "Grab the golden brown bread with braided design using the left arm and place it in the round pan with hole in handle", + "Use the left arm to move the soft golden bread into the smooth round pan made of iron", + "Place the round bread with braided top into the smooth round pan made of iron with the left arm.", + "Pick up the round bread with braided top and place it in the smooth round pan made of iron.", + "Pick up the golden brown bread and put it in the medium black pan with handle", + "Place the soft golden bread from the table into the skillet with extended grip handle", + "Pick the round bread with crusty texture with the left arm and set it in the round pan with hole in handle", + "Move the braided bread loaf to the dark pan with sturdy grip using the left arm", + "Take the small bread and drop it into the round cooking pan.", + "Grab the round bread with crusty texture and place it inside the black pan with curved edges", + "Use the left arm to pick the soft golden bread for the dark pan with sturdy grip", + "Take the smooth crusty small bread and put it in the versatile skillet for stovetop cooking.", + "Use the left arm to lift the golden brown bread and place it into the flat-bottomed skillet with long handle.", + "Use the left arm to stick the braided bread loaf into the solid dark-colored round pan.", + "Take the golden brown bread with the left arm and drop into the dark pan with sturdy grip", + "Place the round bread with crusty texture into the versatile skillet for stovetop cooking using the left arm", + "Lift the small golden baked bread and drop it into the black pan with curved edges.", + "Use the left arm to set the golden brown bread with braided design into the solid dark-colored round pan.", + "Pick up the golden brown bread with braided design with the left arm and drop it in the round cooking pan", + "Grab the round bread with braided top with the left arm and place in the smooth round pan made of iron", + "Use the left arm to place the round bread with braided top into the flat-bottomed skillet with long handle", + "Use the left arm to grab the golden brown bread with braided design for the solid dark-colored round pan", + "Pick the small golden baked bread off the table and place it in the flat-bottomed skillet with long handle.", + "Use the left arm to take the soft golden bread and move it into the black skillet with smooth base.", + "Use the left arm to move the golden bread loaf with soft inside and set it into the round pan with hole in handle.", + "Take the golden brown bread with braided design and place it inside the dark pan with sturdy grip", + "Use the left arm to pick the golden brown bread up for the round pan with hole in handle", + "Grab the golden brown bread and drop it into the black skillet with smooth base", + "Grab the smooth crusty small bread from the table and set it in the black pan with curved edges.", + "Set the small golden baked bread into the heavy black cooking skillet after grabbing", + "Pick the smooth crusty small bread and set it into the black skillet with smooth base.", + "Grab the smooth crusty small bread and place it inside the dark pan with sturdy grip.", + "Use the left arm to grab the golden bread loaf with soft inside for the dark pan with sturdy grip", + "Move the golden bread loaf with soft inside into the medium black pan with handle from the table", + "Take the smooth crusty small bread and set it into the solid dark-colored round pan", + "Use the left arm to grab the soft golden bread and set it in the round cooking pan.", + "Take the golden bread loaf with soft inside and place it inside the versatile skillet for stovetop cooking", + "Pick the braided bread loaf up using the left arm and drop it in the round pan with hole in handle.", + "Take the bread with golden crust and put it in the dark pan with sturdy grip.", + "Lift the golden brown bread with braided design and drop it into the black skillet with smooth base", + "Pick the soft golden bread and transfer it to the versatile skillet for stovetop cooking", + "Grab the round bread with braided top and stick it in the black skillet with smooth base.", + "Put the small bread into the dark pan with sturdy grip.", + "Use the left arm to pick the golden bread loaf with soft inside and place it into the medium black pan with handle.", + "Transfer the round bread with braided top into the round cooking pan from the table", + "Put the smooth crusty small bread into the solid dark-colored round pan after grabbing it", + "Use the left arm to pick the round bread with braided top and put it in the round pan with hole in handle", + "Lift the round bread with crusty texture using the left arm and move it to the round cooking pan", + "Take the smooth crusty small bread off the table into the black pan with curved edges", + "Move the braided bread loaf from table into the black skillet with smooth base", + "Grab the golden bread loaf with soft inside using the left arm and place it in the versatile skillet for stovetop cooking", + "Use the left arm to move the small golden baked bread into the solid dark-colored round pan", + "Place the braided bread loaf into the black pan with curved edges with the left arm.", + "Pick up the bread with golden crust and place it in the dark pan with sturdy grip.", + "Pick up the round bread with crusty texture and put it in the dark pan with sturdy grip", + "Place the golden brown bread with braided design from the table into the heavy black cooking skillet", + "Pick the soft doughy bread with the left arm and set it in the black skillet with smooth base", + "Move the golden bread loaf with soft inside to the heavy black cooking skillet using the left arm", + "Take the golden bread loaf with soft inside and drop it into the skillet with extended grip handle.", + "Grab the small bread and place it inside the round pan with hole in handle", + "Use the left arm to pick the round bread with braided top for the skillet with extended grip handle", + "Take the round bread with braided top and put it in the black pan with curved edges.", + "Use the left arm to lift the soft doughy bread and place it into the heavy black cooking skillet.", + "Use the left arm to stick the small bread into the versatile skillet for stovetop cooking.", + "Take the bread with golden crust with the left arm and drop into the heavy black cooking skillet", + "Place the golden bread loaf with soft inside into the black pan with curved edges using the left arm", + "Lift the small golden baked bread and drop it into the black skillet with smooth base.", + "Use the left arm to set the golden brown bread into the flat-bottomed skillet with long handle.", + "Pick up the golden bread loaf with soft inside with the left arm and drop it in the solid dark-colored round pan", + "Grab the round bread with braided top with the left arm and place in the round pan with hole in handle", + "Use the left arm to place the smooth crusty small bread into the medium black pan with handle", + "Use the left arm to grab the braided bread loaf for the heavy black cooking skillet", + "Pick the smooth crusty small bread off the table and place it in the round pan with hole in handle.", + "Use the left arm to take the round bread with crusty texture and move it into the flat-bottomed skillet with long handle.", + "Use the left arm to move the smooth crusty small bread and set it into the round pan with hole in handle.", + "Take the golden brown bread with braided design and place it inside the solid dark-colored round pan", + "Use the left arm to pick the small golden baked bread up for the dark pan with sturdy grip", + "Grab the round bread with braided top and drop it into the flat-bottomed skillet with long handle", + "Grab the golden brown bread with braided design from the table and set it in the black pan with curved edges.", + "Set the golden brown bread into the skillet with extended grip handle after grabbing", + "Pick the round bread with crusty texture and set it into the black pan with curved edges.", + "Grab the braided bread loaf and place it inside the dark pan with sturdy grip.", + "Use the left arm to grab the smooth crusty small bread for the heavy black cooking skillet", + "Move the soft golden bread into the solid dark-colored round pan from the table", + "Take the bread with golden crust and set it into the black skillet with smooth base", + "Use the left arm to grab the small bread and set it in the black pan with curved edges.", + "Take the bread with golden crust and place it inside the medium black pan with handle", + "Pick the soft golden bread up using the left arm and drop it in the skillet with extended grip handle.", + "Take the round bread with braided top and put it in the flat-bottomed skillet with long handle.", + "Lift the golden brown bread and drop it into the medium black pan with handle", + "Pick the round bread with crusty texture and transfer it to the solid dark-colored round pan", + "Grab the soft golden bread and stick it in the solid dark-colored round pan.", + "Put the small bread into the heavy black cooking skillet.", + "Use the left arm to pick the smooth crusty small bread and place it into the heavy black cooking skillet.", + "Transfer the round bread with braided top into the versatile skillet for stovetop cooking from the table", + "Put the round bread with braided top into the black pan with curved edges after grabbing it", + "Use the left arm to pick the round bread with braided top and put it in the solid dark-colored round pan", + "Lift the round bread with crusty texture using the left arm and move it to the heavy black cooking skillet" + ], + "unseen": [ + "Use the left arm to move the round braided loaf to the round cast-iron skillet.", + "Grab the round braided loaf and place it in the black skillet", + "Take the round braided loaf and put it in the black skillet", + "Grab the palm-sized braided golden bread and drop it into the black skillet.", + "Grab the braided top round bread and set it in the round cast-iron skillet", + "Move the palm-sized braided golden bread to the round cast-iron skillet using the left arm.", + "Grab the palm-sized braided golden bread and place it into the black skillet.", + "Pick up the round braided loaf and drop it into the iron skillet for frying foods", + "Pick the palm-sized braided golden bread up and place it in the round cast-iron skillet", + "Use the left arm to grab the braided top round bread and set it in the round cast-iron skillet", + "Use the left arm to move the braided top round bread to the iron skillet for frying foods.", + "Grab the round braided loaf and place it in the round cast-iron skillet", + "Take the palm-sized braided golden bread and put it in the round cast-iron skillet", + "Grab the palm-sized braided golden bread and drop it into the black skillet.", + "Grab the braided top round bread and set it in the round cast-iron skillet", + "Move the braided top round bread to the black skillet using the left arm.", + "Grab the palm-sized braided golden bread and place it into the round cast-iron skillet.", + "Pick up the braided top round bread and drop it into the black skillet", + "Pick the braided top round bread up and place it in the iron skillet for frying foods", + "Use the left arm to grab the braided top round bread and set it in the round cast-iron skillet", + "Use the left arm to move the braided top round bread to the round cast-iron skillet.", + "Grab the palm-sized braided golden bread and place it in the black skillet", + "Take the palm-sized braided golden bread and put it in the black skillet", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Grab the round braided loaf and set it in the round cast-iron skillet", + "Move the round braided loaf to the round cast-iron skillet using the left arm.", + "Grab the round braided loaf and place it into the round cast-iron skillet.", + "Pick up the palm-sized braided golden bread and drop it into the round cast-iron skillet", + "Pick the round braided loaf up and place it in the black skillet", + "Use the left arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Use the left arm to move the round braided loaf to the black skillet.", + "Grab the palm-sized braided golden bread and place it in the black skillet", + "Take the round braided loaf and put it in the iron skillet for frying foods", + "Grab the braided top round bread and drop it into the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Move the round braided loaf to the round cast-iron skillet using the left arm.", + "Grab the braided top round bread and place it into the iron skillet for frying foods.", + "Pick up the palm-sized braided golden bread and drop it into the iron skillet for frying foods", + "Pick the round braided loaf up and place it in the iron skillet for frying foods", + "Use the left arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Use the left arm to move the palm-sized braided golden bread to the iron skillet for frying foods.", + "Grab the round braided loaf and place it in the iron skillet for frying foods", + "Take the round braided loaf and put it in the black skillet", + "Grab the braided top round bread and drop it into the black skillet.", + "Grab the palm-sized braided golden bread and set it in the black skillet", + "Move the braided top round bread to the round cast-iron skillet using the left arm.", + "Grab the round braided loaf and place it into the round cast-iron skillet.", + "Pick up the braided top round bread and drop it into the black skillet", + "Pick the braided top round bread up and place it in the black skillet", + "Use the left arm to grab the round braided loaf and set it in the iron skillet for frying foods", + "Use the left arm to move the braided top round bread to the iron skillet for frying foods.", + "Grab the braided top round bread and place it in the round cast-iron skillet", + "Take the round braided loaf and put it in the iron skillet for frying foods", + "Grab the braided top round bread and drop it into the round cast-iron skillet.", + "Grab the palm-sized braided golden bread and set it in the iron skillet for frying foods", + "Move the round braided loaf to the round cast-iron skillet using the left arm.", + "Grab the braided top round bread and place it into the black skillet.", + "Pick up the round braided loaf and drop it into the round cast-iron skillet", + "Pick the round braided loaf up and place it in the round cast-iron skillet", + "Use the left arm to grab the palm-sized braided golden bread and set it in the black skillet", + "Use the left arm to move the braided top round bread to the iron skillet for frying foods.", + "Grab the palm-sized braided golden bread and place it in the iron skillet for frying foods", + "Take the braided top round bread and put it in the iron skillet for frying foods", + "Grab the braided top round bread and drop it into the black skillet.", + "Grab the palm-sized braided golden bread and set it in the round cast-iron skillet", + "Move the braided top round bread to the round cast-iron skillet using the left arm.", + "Grab the palm-sized braided golden bread and place it into the round cast-iron skillet.", + "Pick up the braided top round bread and drop it into the black skillet", + "Pick the palm-sized braided golden bread up and place it in the round cast-iron skillet", + "Use the left arm to grab the braided top round bread and set it in the black skillet", + "Use the left arm to move the braided top round bread to the black skillet.", + "Grab the braided top round bread and place it in the round cast-iron skillet", + "Take the braided top round bread and put it in the iron skillet for frying foods", + "Grab the palm-sized braided golden bread and drop it into the iron skillet for frying foods.", + "Grab the braided top round bread and set it in the black skillet", + "Move the braided top round bread to the black skillet using the left arm.", + "Grab the round braided loaf and place it into the iron skillet for frying foods.", + "Pick up the braided top round bread and drop it into the round cast-iron skillet", + "Pick the palm-sized braided golden bread up and place it in the round cast-iron skillet", + "Use the left arm to grab the braided top round bread and set it in the iron skillet for frying foods", + "Use the left arm to move the round braided loaf to the round cast-iron skillet.", + "Grab the round braided loaf and place it in the black skillet", + "Take the palm-sized braided golden bread and put it in the black skillet", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Grab the round braided loaf and set it in the iron skillet for frying foods", + "Move the braided top round bread to the black skillet using the left arm.", + "Grab the round braided loaf and place it into the round cast-iron skillet.", + "Pick up the palm-sized braided golden bread and drop it into the black skillet", + "Pick the braided top round bread up and place it in the black skillet", + "Use the left arm to grab the braided top round bread and set it in the round cast-iron skillet", + "Use the left arm to move the palm-sized braided golden bread to the round cast-iron skillet.", + "Grab the braided top round bread and place it in the black skillet", + "Take the braided top round bread and put it in the black skillet", + "Grab the round braided loaf and drop it into the iron skillet for frying foods.", + "Grab the braided top round bread and set it in the iron skillet for frying foods", + "Move the braided top round bread to the black skillet using the left arm.", + "Grab the round braided loaf and place it into the round cast-iron skillet.", + "Pick up the palm-sized braided golden bread and drop it into the iron skillet for frying foods", + "Pick the round braided loaf up and place it in the black skillet", + "Use the left arm to grab the palm-sized braided golden bread and set it in the black skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode23.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode23.json new file mode 100644 index 0000000000000000000000000000000000000000..a4977203952273a0c7592069b7afea4d316244c4 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode23.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the doughy and soft bread and drop it into the medium skillet.", + "Pick the bread with rough texture with the right arm and set it in the pan with dark finish", + "Use the right arm to pick the doughy and soft bread and place it into the smooth round cooking skillet.", + "Use the right arm to move the doughy and soft bread into the round skillet with handle", + "Use the right arm to grab the hand-sized bread block for the pan with dark finish", + "Pick the bread with rough texture and transfer it to the gray cooking pan with handle", + "Place the bread with rough texture into the smooth cast iron skillet using the right arm", + "Pick the golden bread loaf and set it into the smooth round cooking skillet.", + "Take the soft bread and put it in the dark gray skillet.", + "Use the right arm to lift the cuboid bread and place it into the smooth round cooking skillet.", + "Lift the bread with rough texture using the right arm and move it to the gray cooking pan with handle", + "Use the right arm to move the doughy and soft bread and set it into the hefty black skillet.", + "Use the right arm to grab the hand-sized bread block and set it in the skillet for cooking.", + "Use the right arm to pick the bread loaf with uneven edges up for the hefty black skillet", + "Grab the cuboid bread and place it inside the pan with dark finish", + "Use the right arm to pick the doughy and soft bread and put it in the gray cooking pan with handle", + "Take the bread with rough texture with the right arm and drop into the round skillet with handle", + "Take the doughy and soft bread and put it in the round skillet with handle.", + "Grab the square-shaped bread and place it inside the gray cooking pan with handle.", + "Place the light golden brown bread into the smooth round cooking skillet with the right arm.", + "Take the doughy and soft bread and place it inside the pan with dark finish", + "Take the doughy and soft bread and place it inside the smooth round cooking skillet", + "Grab the cuboid bread from the table and set it in the gray cooking pan with handle.", + "Pick up the bread with rough texture and place it in the smooth cast iron skillet.", + "Use the right arm to set the hand-sized bread block into the dark gray skillet.", + "Move the bread with rough texture from table into the medium round cast iron skillet", + "Set the hand-sized bread block into the smooth round cooking skillet after grabbing", + "Take the cuboid bread and set it into the smooth cast iron skillet", + "Pick up the golden bread and put it in the smooth cast iron skillet", + "Put the bread loaf with bumpy surface into the pan with dark finish.", + "Grab the doughy and soft bread and stick it in the pan with dark finish.", + "Put the golden bread into the round skillet with handle after grabbing it", + "Use the right arm to place the square-shaped bread into the gray pan", + "Pick up the doughy and soft bread with the right arm and drop it in the smooth cast iron skillet", + "Use the right arm to stick the soft bread into the medium skillet.", + "Place the golden bread loaf from the table into the rounded skillet with a holey handle", + "Move the bread loaf with uneven edges to the hefty black skillet using the right arm", + "Move the bread loaf with uneven edges into the skillet for cooking from the table", + "Use the right arm to take the doughy and soft bread and move it into the gray pan.", + "Use the right arm to grab the golden bread for the rounded skillet with a holey handle", + "Grab the bread block with light patches and drop it into the smooth round cooking skillet", + "Grab the bread block with light patches with the right arm and place in the medium round cast iron skillet", + "Lift the soft bread and drop it into the gray cooking pan with handle.", + "Grab the bread loaf with bumpy surface using the right arm and place it in the pan with dark finish", + "Use the right arm to pick the cuboid bread for the dark gray skillet", + "Take the doughy and soft bread off the table into the gray pan", + "Pick the bread block with light patches off the table and place it in the pan with dark finish.", + "Pick the soft bread up using the right arm and drop it in the round skillet with handle.", + "Lift the hand-sized bread block and drop it into the hefty black skillet", + "Transfer the soft bread into the gray pan from the table", + "Take the golden bread loaf and drop it into the smooth round cooking skillet.", + "Pick the golden bread with the right arm and set it in the dark gray skillet", + "Use the right arm to pick the hand-sized bread block and place it into the medium round cast iron skillet.", + "Use the right arm to move the square-shaped bread into the gray cooking pan with handle", + "Use the right arm to grab the cuboid bread for the skillet for cooking", + "Pick the doughy and soft bread and transfer it to the dark gray skillet", + "Place the bread loaf with bumpy surface into the skillet for cooking using the right arm", + "Pick the bread block with light patches and set it into the medium skillet.", + "Take the soft bread and put it in the gray cooking pan with handle.", + "Use the right arm to lift the light golden brown bread and place it into the pan with dark finish.", + "Lift the golden bread loaf using the right arm and move it to the rounded skillet with a holey handle", + "Use the right arm to move the square-shaped bread and set it into the gray pan.", + "Use the right arm to grab the light golden brown bread and set it in the round skillet with handle.", + "Use the right arm to pick the bread block with light patches up for the hefty black skillet", + "Grab the bread with rough texture and place it inside the smooth round cooking skillet", + "Use the right arm to pick the bread loaf with uneven edges and put it in the medium skillet", + "Take the golden bread with the right arm and drop into the medium skillet", + "Take the square-shaped bread and put it in the smooth round cooking skillet.", + "Grab the light golden brown bread and place it inside the hefty black skillet.", + "Place the golden bread into the medium skillet with the right arm.", + "Take the doughy and soft bread and place it inside the smooth round cooking skillet", + "Take the bread block with light patches and place it inside the medium skillet", + "Grab the soft bread from the table and set it in the gray pan.", + "Pick up the bread block with light patches and place it in the skillet for cooking.", + "Use the right arm to set the square-shaped bread into the smooth round cooking skillet.", + "Move the bread with rough texture from table into the skillet for cooking", + "Set the bread loaf with bumpy surface into the gray pan after grabbing", + "Take the bread loaf with bumpy surface and set it into the gray pan", + "Pick up the golden bread loaf and put it in the dark gray skillet", + "Put the cuboid bread into the smooth cast iron skillet.", + "Grab the bread with rough texture and stick it in the smooth round cooking skillet.", + "Put the soft bread into the hefty black skillet after grabbing it", + "Use the right arm to place the cuboid bread into the skillet for cooking", + "Pick up the square-shaped bread with the right arm and drop it in the medium round cast iron skillet", + "Use the right arm to stick the cuboid bread into the dark gray skillet.", + "Place the square-shaped bread from the table into the gray cooking pan with handle", + "Move the golden bread loaf to the pan with dark finish using the right arm", + "Move the doughy and soft bread into the smooth round cooking skillet from the table", + "Use the right arm to take the square-shaped bread and move it into the pan with dark finish.", + "Use the right arm to grab the bread loaf with bumpy surface for the gray pan", + "Grab the cuboid bread and drop it into the gray pan", + "Grab the bread with rough texture with the right arm and place in the dark gray skillet", + "Lift the golden bread loaf and drop it into the dark gray skillet.", + "Grab the bread loaf with bumpy surface using the right arm and place it in the dark gray skillet", + "Use the right arm to pick the golden bread for the medium round cast iron skillet", + "Take the bread with rough texture off the table into the round skillet with handle", + "Pick the cuboid bread off the table and place it in the medium skillet.", + "Pick the bread block with light patches up using the right arm and drop it in the skillet for cooking.", + "Lift the bread loaf with bumpy surface and drop it into the medium skillet", + "Transfer the light golden brown bread into the gray pan from the table" + ], + "unseen": [ + "Pick up the rectangular bread loaf and drop it into the dark gray round cast iron pan", + "Move the bread with golden crust to the blackish-gray cast iron skillet using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and place it into the blackish-gray cast iron skillet.", + "Grab the rectangular bread loaf and drop it into the cooking skillet with grippy handle.", + "Grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Use the right arm to move the rectangular bread loaf to the dark gray round cast iron pan.", + "Take the bread with golden crust and put it in the cooking skillet with grippy handle", + "Pick the bread loaf with soft surface up and place it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and place it in the cooking skillet with grippy handle", + "Pick up the rectangular bread loaf and drop it into the cooking skillet with grippy handle", + "Move the rectangular bread loaf to the dark gray round cast iron pan using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Grab the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet.", + "Grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Use the right arm to move the bread loaf with soft surface to the cooking skillet with grippy handle.", + "Take the rectangular bread loaf and put it in the cooking skillet with grippy handle", + "Pick the bread loaf with soft surface up and place it in the dark gray round cast iron pan", + "Grab the bread with golden crust and place it in the blackish-gray cast iron skillet", + "Pick up the bread with golden crust and drop it into the blackish-gray cast iron skillet", + "Move the bread with golden crust to the dark gray round cast iron pan using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Grab the bread with golden crust and place it into the dark gray round cast iron pan.", + "Grab the bread with golden crust and drop it into the cooking skillet with grippy handle.", + "Grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Use the right arm to move the rectangular bread loaf to the cooking skillet with grippy handle.", + "Take the bread with golden crust and put it in the dark gray round cast iron pan", + "Pick the bread loaf with soft surface up and place it in the cooking skillet with grippy handle", + "Grab the bread with golden crust and place it in the cooking skillet with grippy handle", + "Pick up the rectangular bread loaf and drop it into the blackish-gray cast iron skillet", + "Move the bread loaf with soft surface to the cooking skillet with grippy handle using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and place it into the cooking skillet with grippy handle.", + "Grab the bread with golden crust and drop it into the cooking skillet with grippy handle.", + "Grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Use the right arm to move the rectangular bread loaf to the blackish-gray cast iron skillet.", + "Take the bread with golden crust and put it in the dark gray round cast iron pan", + "Pick the bread loaf with soft surface up and place it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and place it in the cooking skillet with grippy handle", + "Pick up the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet", + "Move the bread with golden crust to the cooking skillet with grippy handle using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Grab the bread with golden crust and place it into the dark gray round cast iron pan.", + "Grab the bread with golden crust and drop it into the blackish-gray cast iron skillet.", + "Grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Use the right arm to move the rectangular bread loaf to the dark gray round cast iron pan.", + "Take the rectangular bread loaf and put it in the dark gray round cast iron pan", + "Pick the rectangular bread loaf up and place it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it in the dark gray round cast iron pan", + "Pick up the rectangular bread loaf and drop it into the dark gray round cast iron pan", + "Move the rectangular bread loaf to the dark gray round cast iron pan using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Grab the bread with golden crust and place it into the cooking skillet with grippy handle.", + "Grab the rectangular bread loaf and drop it into the blackish-gray cast iron skillet.", + "Grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Use the right arm to move the rectangular bread loaf to the cooking skillet with grippy handle.", + "Take the rectangular bread loaf and put it in the cooking skillet with grippy handle", + "Pick the bread with golden crust up and place it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Pick up the rectangular bread loaf and drop it into the dark gray round cast iron pan", + "Move the rectangular bread loaf to the dark gray round cast iron pan using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and place it into the blackish-gray cast iron skillet.", + "Grab the bread with golden crust and drop it into the blackish-gray cast iron skillet.", + "Grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Use the right arm to move the bread loaf with soft surface to the blackish-gray cast iron skillet.", + "Take the rectangular bread loaf and put it in the blackish-gray cast iron skillet", + "Pick the bread with golden crust up and place it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and place it in the blackish-gray cast iron skillet", + "Pick up the rectangular bread loaf and drop it into the blackish-gray cast iron skillet", + "Move the rectangular bread loaf to the dark gray round cast iron pan using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Grab the bread with golden crust and drop it into the cooking skillet with grippy handle.", + "Grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Use the right arm to move the bread loaf with soft surface to the dark gray round cast iron pan.", + "Take the bread with golden crust and put it in the blackish-gray cast iron skillet", + "Pick the rectangular bread loaf up and place it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Pick up the bread with golden crust and drop it into the dark gray round cast iron pan", + "Move the bread loaf with soft surface to the cooking skillet with grippy handle using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Grab the bread with golden crust and place it into the dark gray round cast iron pan.", + "Grab the bread with golden crust and drop it into the cooking skillet with grippy handle.", + "Grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Use the right arm to move the bread with golden crust to the cooking skillet with grippy handle.", + "Take the bread with golden crust and put it in the cooking skillet with grippy handle", + "Pick the rectangular bread loaf up and place it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Pick up the bread with golden crust and drop it into the dark gray round cast iron pan", + "Move the bread loaf with soft surface to the cooking skillet with grippy handle using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Grab the bread with golden crust and place it into the dark gray round cast iron pan.", + "Grab the rectangular bread loaf and drop it into the dark gray round cast iron pan.", + "Grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Use the right arm to move the rectangular bread loaf to the cooking skillet with grippy handle.", + "Take the bread with golden crust and put it in the blackish-gray cast iron skillet", + "Pick the rectangular bread loaf up and place it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and place it in the dark gray round cast iron pan" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode24.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode24.json new file mode 100644 index 0000000000000000000000000000000000000000..f9568cae7d37e128ec578f1cbf45e9481b39027c --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode24.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the small golden brown bread into the round skillet with handle after grabbing", + "Use the left arm to grab the small golden brown bread and set it in the round skillet with handle.", + "Use the left arm to place the hand-sized oval loaf into the dark gray skillet", + "Grab the light brown bread with ridges and drop it into the medium-sized frying skillet", + "Transfer the light brown loaf with smooth sides into the gray skillet for stovetop cooking from the table", + "Pick the smooth loaf with rounded edges with the left arm and set it in the metal skillet", + "Place the bread with split top into the metal skillet with comfortable grip with the left arm.", + "Pick the bread with warm golden color and transfer it to the round skillet with open handle end", + "Place the hand-sized oval loaf from the table into the skillet for frying food", + "Use the left arm to grab the light brown bread with ridges for the round skillet with handle", + "Take the soft brown bread with the left arm and drop into the smooth non-stick skillet", + "Place the smooth loaf with rounded edges into the skillet for frying food using the left arm", + "Use the left arm to lift the soft brown bread and place it into the skillet with black cooking surface.", + "Move the bread with golden-brown crust from table into the skillet for frying food", + "Use the left arm to move the small golden brown bread and set it into the skillet for frying food.", + "Pick the light brown loaf with smooth sides up using the left arm and drop it in the gray skillet for stovetop cooking.", + "Take the small loaf with curved top off the table into the round skillet with handle", + "Take the small loaf with curved top and place it inside the skillet for frying food", + "Pick up the golden bread loaf with the left arm and drop it in the skillet for frying food", + "Pick up the small golden brown bread and place it in the black-surfaced skillet with gray sides.", + "Use the left arm to pick the smooth loaf with rounded edges up for the dark gray skillet", + "Use the left arm to pick the light brown loaf with smooth sides and place it into the skillet with black cooking surface.", + "Move the light brown bread with ridges to the metal skillet using the left arm", + "Put the small loaf with curved top into the dark gray skillet after grabbing it", + "Use the left arm to take the brown loaf and move it into the round skillet with open handle end.", + "Pick the hand-sized oval loaf and set it into the skillet for frying food.", + "Lift the hand-sized oval loaf and drop it into the round skillet with open handle end", + "Lift the brown loaf and drop it into the black-surfaced skillet with gray sides.", + "Use the left arm to set the golden bread loaf into the medium-sized frying skillet.", + "Take the smooth loaf with rounded edges and put it in the black-surfaced skillet with gray sides.", + "Grab the bread with warm golden color using the left arm and place it in the black-surfaced skillet with gray sides", + "Lift the soft brown bread using the left arm and move it to the gray skillet for stovetop cooking", + "Use the left arm to pick the light brown loaf with smooth sides and put it in the smooth non-stick skillet", + "Take the brown loaf and drop it into the metal skillet.", + "Take the golden bread loaf and place it inside the dark gray skillet", + "Grab the bread with warm golden color and place it inside the metal skillet with comfortable grip", + "Grab the hand-sized oval loaf and place it inside the round skillet with open handle end.", + "Grab the bread with warm golden color and stick it in the medium-sized frying skillet.", + "Put the small golden brown bread into the smooth non-stick skillet.", + "Pick the bread with golden-brown crust off the table and place it in the smooth non-stick skillet.", + "Use the left arm to stick the small golden brown bread into the round skillet with handle.", + "Pick up the small loaf with curved top and put it in the black-surfaced skillet with gray sides", + "Use the left arm to pick the bread with golden-brown crust for the metal skillet", + "Use the left arm to grab the golden bread loaf for the flat-bottom skillet", + "Use the left arm to move the light brown loaf with smooth sides into the medium-sized frying skillet", + "Take the light brown loaf with smooth sides and set it into the dark gray skillet", + "Move the small loaf with curved top into the skillet with black cooking surface from the table", + "Grab the small loaf with curved top from the table and set it in the round skillet with handle.", + "Grab the small loaf with curved top with the left arm and place in the black-surfaced skillet with gray sides", + "Take the light brown loaf with smooth sides and put it in the smooth non-stick skillet.", + "Set the brown loaf into the metal skillet after grabbing", + "Use the left arm to grab the light brown loaf with smooth sides and set it in the skillet for frying food.", + "Use the left arm to place the light brown loaf with smooth sides into the metal skillet with comfortable grip", + "Grab the hand-sized oval loaf and drop it into the metal skillet", + "Transfer the soft brown bread into the gray skillet for stovetop cooking from the table", + "Pick the brown loaf with the left arm and set it in the flat-bottom skillet", + "Place the hand-sized oval loaf into the metal skillet with comfortable grip with the left arm.", + "Pick the small golden brown bread and transfer it to the metal skillet", + "Place the bread with warm golden color from the table into the round skillet with handle", + "Use the left arm to grab the smooth loaf with rounded edges for the medium-sized frying skillet", + "Take the brown loaf with the left arm and drop into the round skillet with open handle end", + "Place the small loaf with curved top into the metal skillet using the left arm", + "Use the left arm to lift the small golden brown bread and place it into the dark gray skillet.", + "Move the small loaf with curved top from table into the round skillet with open handle end", + "Use the left arm to move the smooth loaf with rounded edges and set it into the skillet with black cooking surface.", + "Pick the light brown loaf with smooth sides up using the left arm and drop it in the black-surfaced skillet with gray sides.", + "Take the golden bread loaf off the table into the medium-sized frying skillet", + "Take the light brown bread with ridges and place it inside the skillet with black cooking surface", + "Pick up the bread with warm golden color with the left arm and drop it in the round skillet with handle", + "Pick up the hand-sized oval loaf and place it in the skillet with black cooking surface.", + "Use the left arm to pick the bread with golden-brown crust up for the medium-sized frying skillet", + "Use the left arm to pick the small loaf with curved top and place it into the round skillet with handle.", + "Move the bread with split top to the skillet for frying food using the left arm", + "Put the small loaf with curved top into the round skillet with open handle end after grabbing it", + "Use the left arm to take the small loaf with curved top and move it into the metal skillet with comfortable grip.", + "Pick the bread with split top and set it into the metal skillet.", + "Lift the brown loaf and drop it into the metal skillet with comfortable grip", + "Lift the small golden brown bread and drop it into the gray skillet for stovetop cooking.", + "Use the left arm to set the light brown bread with ridges into the medium-sized frying skillet.", + "Take the bread with warm golden color and put it in the flat-bottom skillet.", + "Grab the bread with split top using the left arm and place it in the flat-bottom skillet", + "Lift the small golden brown bread using the left arm and move it to the black-surfaced skillet with gray sides", + "Use the left arm to pick the golden bread loaf and put it in the metal skillet with comfortable grip", + "Take the smooth loaf with rounded edges and drop it into the medium-sized frying skillet.", + "Take the soft brown bread and place it inside the metal skillet with comfortable grip", + "Grab the light brown bread with ridges and place it inside the medium-sized frying skillet", + "Grab the smooth loaf with rounded edges and place it inside the skillet with black cooking surface.", + "Grab the bread with golden-brown crust and stick it in the skillet with black cooking surface.", + "Put the bread with golden-brown crust into the round skillet with handle.", + "Pick the small golden brown bread off the table and place it in the black-surfaced skillet with gray sides.", + "Use the left arm to stick the small golden brown bread into the medium-sized frying skillet.", + "Pick up the soft brown bread and put it in the dark gray skillet", + "Use the left arm to pick the brown loaf for the smooth non-stick skillet", + "Use the left arm to grab the soft brown bread for the gray skillet for stovetop cooking", + "Use the left arm to move the small golden brown bread into the metal skillet with comfortable grip", + "Take the brown loaf and set it into the round skillet with open handle end", + "Move the small loaf with curved top into the medium-sized frying skillet from the table", + "Grab the smooth loaf with rounded edges from the table and set it in the metal skillet with comfortable grip.", + "Grab the hand-sized oval loaf with the left arm and place in the skillet for frying food", + "Take the light brown loaf with smooth sides and put it in the skillet for frying food." + ], + "unseen": [ + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Use the left arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the left arm.", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Pick up the rounded oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the oval bread to the dark skillet with shiny finish.", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the pan-shaped skillet with hole in handle.", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Move the oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it in the dark skillet with shiny finish", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Move the rounded oval bread to the dark skillet with shiny finish using the left arm.", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Use the left arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Move the rounded oval bread to the dark skillet with shiny finish using the left arm.", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Use the left arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and place it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Move the oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Take the oval bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Move the oval-shaped soft bread to the versatile skillet for frying and sauteing using the left arm.", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Pick up the rounded oval bread and drop it into the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Use the left arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Use the left arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Move the oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode25.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode25.json new file mode 100644 index 0000000000000000000000000000000000000000..6a379330c5354fa1597be6ef5e47f0c2f732a4a5 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode25.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Transfer the bread loaf with bumpy surface into the heavy black cooking skillet from the table", + "Pick up the doughy and soft bread and place it in the flat-bottomed skillet with long handle.", + "Take the bread loaf with uneven edges and put it in the smooth round pan made of iron.", + "Take the light golden brown bread and place it inside the round pan with hole in handle", + "Use the right arm to lift the square-shaped bread and place it into the round pan with hole in handle.", + "Grab the golden bread using the right arm and place it in the skillet with extended grip handle", + "Use the right arm to pick the doughy and soft bread and place it into the versatile skillet for stovetop cooking.", + "Use the right arm to move the doughy and soft bread and set it into the versatile skillet for stovetop cooking.", + "Take the light golden brown bread off the table into the smooth round pan made of iron", + "Grab the golden bread with the right arm and place in the black skillet with smooth base", + "Grab the cuboid bread and drop it into the solid dark-colored round pan", + "Move the bread loaf with uneven edges to the round cooking pan using the right arm", + "Take the hand-sized bread block with the right arm and drop into the heavy black cooking skillet", + "Grab the golden bread and place it inside the round cooking pan.", + "Take the doughy and soft bread and drop it into the smooth round pan made of iron.", + "Move the golden bread into the skillet with extended grip handle from the table", + "Use the right arm to move the bread block with light patches into the solid dark-colored round pan", + "Use the right arm to grab the bread with rough texture for the medium black pan with handle", + "Put the bread block with light patches into the flat-bottomed skillet with long handle after grabbing it", + "Use the right arm to take the bread loaf with uneven edges and move it into the heavy black cooking skillet.", + "Use the right arm to grab the golden bread for the solid dark-colored round pan", + "Pick the cuboid bread off the table and place it in the flat-bottomed skillet with long handle.", + "Use the right arm to grab the bread block with light patches and set it in the round pan with hole in handle.", + "Pick the cuboid bread up using the right arm and drop it in the round cooking pan.", + "Use the right arm to place the golden bread loaf into the black skillet with smooth base", + "Use the right arm to stick the soft bread into the dark pan with sturdy grip.", + "Place the bread loaf with uneven edges into the black skillet with smooth base with the right arm.", + "Grab the soft bread from the table and set it in the medium black pan with handle.", + "Set the bread loaf with uneven edges into the medium black pan with handle after grabbing", + "Grab the bread block with light patches and place it inside the round pan with hole in handle", + "Lift the golden bread loaf and drop it into the medium black pan with handle.", + "Pick the doughy and soft bread with the right arm and set it in the round cooking pan", + "Place the doughy and soft bread from the table into the round cooking pan", + "Use the right arm to set the bread loaf with uneven edges into the round cooking pan.", + "Put the bread loaf with uneven edges into the round pan with hole in handle.", + "Lift the hand-sized bread block using the right arm and move it to the round cooking pan", + "Use the right arm to pick the bread loaf with uneven edges for the skillet with extended grip handle", + "Pick up the bread block with light patches and put it in the skillet with extended grip handle", + "Use the right arm to pick the cuboid bread and put it in the smooth round pan made of iron", + "Place the golden bread into the dark pan with sturdy grip using the right arm", + "Move the golden bread from table into the round pan with hole in handle", + "Pick the cuboid bread and transfer it to the black skillet with smooth base", + "Pick up the soft bread with the right arm and drop it in the round cooking pan", + "Grab the cuboid bread and stick it in the black pan with curved edges.", + "Lift the cuboid bread and drop it into the medium black pan with handle", + "Take the light golden brown bread and put it in the versatile skillet for stovetop cooking.", + "Use the right arm to pick the soft bread up for the black skillet with smooth base", + "Pick the light golden brown bread and set it into the black pan with curved edges.", + "Take the soft bread and place it inside the medium black pan with handle", + "Take the golden bread and set it into the smooth round pan made of iron", + "Transfer the bread with rough texture into the black skillet with smooth base from the table", + "Pick up the bread loaf with bumpy surface and place it in the round cooking pan.", + "Take the golden bread loaf and put it in the skillet with extended grip handle.", + "Take the square-shaped bread and place it inside the flat-bottomed skillet with long handle", + "Use the right arm to lift the bread loaf with uneven edges and place it into the flat-bottomed skillet with long handle.", + "Grab the bread with rough texture using the right arm and place it in the versatile skillet for stovetop cooking", + "Use the right arm to pick the bread with rough texture and place it into the round pan with hole in handle.", + "Use the right arm to move the bread with rough texture and set it into the black skillet with smooth base.", + "Take the doughy and soft bread off the table into the black pan with curved edges", + "Grab the bread with rough texture with the right arm and place in the solid dark-colored round pan", + "Grab the bread block with light patches and drop it into the versatile skillet for stovetop cooking", + "Move the soft bread to the dark pan with sturdy grip using the right arm", + "Take the hand-sized bread block with the right arm and drop into the solid dark-colored round pan", + "Grab the golden bread loaf and place it inside the medium black pan with handle.", + "Take the hand-sized bread block and drop it into the round pan with hole in handle.", + "Move the doughy and soft bread into the black skillet with smooth base from the table", + "Use the right arm to move the hand-sized bread block into the black skillet with smooth base", + "Use the right arm to grab the golden bread for the smooth round pan made of iron", + "Put the cuboid bread into the round cooking pan after grabbing it", + "Use the right arm to take the hand-sized bread block and move it into the round cooking pan.", + "Use the right arm to grab the square-shaped bread for the round pan with hole in handle", + "Pick the bread loaf with bumpy surface off the table and place it in the versatile skillet for stovetop cooking.", + "Use the right arm to grab the bread with rough texture and set it in the versatile skillet for stovetop cooking.", + "Pick the doughy and soft bread up using the right arm and drop it in the medium black pan with handle.", + "Use the right arm to place the golden bread loaf into the black pan with curved edges", + "Use the right arm to stick the golden bread loaf into the heavy black cooking skillet.", + "Place the bread loaf with bumpy surface into the black pan with curved edges with the right arm.", + "Grab the bread block with light patches from the table and set it in the heavy black cooking skillet.", + "Set the cuboid bread into the smooth round pan made of iron after grabbing", + "Grab the bread loaf with uneven edges and place it inside the round pan with hole in handle", + "Lift the square-shaped bread and drop it into the versatile skillet for stovetop cooking.", + "Pick the bread loaf with bumpy surface with the right arm and set it in the black pan with curved edges", + "Place the cuboid bread from the table into the black pan with curved edges", + "Use the right arm to set the doughy and soft bread into the dark pan with sturdy grip.", + "Put the doughy and soft bread into the medium black pan with handle.", + "Lift the doughy and soft bread using the right arm and move it to the black skillet with smooth base", + "Use the right arm to pick the doughy and soft bread for the skillet with extended grip handle", + "Pick up the soft bread and put it in the black pan with curved edges", + "Use the right arm to pick the bread with rough texture and put it in the flat-bottomed skillet with long handle", + "Place the square-shaped bread into the medium black pan with handle using the right arm", + "Move the bread loaf with uneven edges from table into the black skillet with smooth base", + "Pick the doughy and soft bread and transfer it to the round cooking pan", + "Pick up the bread block with light patches with the right arm and drop it in the black skillet with smooth base", + "Grab the cuboid bread and stick it in the black skillet with smooth base.", + "Lift the cuboid bread and drop it into the medium black pan with handle", + "Take the square-shaped bread and put it in the dark pan with sturdy grip.", + "Use the right arm to pick the golden bread up for the round pan with hole in handle", + "Pick the bread with rough texture and set it into the medium black pan with handle.", + "Take the bread with rough texture and place it inside the dark pan with sturdy grip", + "Take the bread loaf with uneven edges and set it into the round pan with hole in handle" + ], + "unseen": [ + "Grab the bread loaf with soft surface and set it in the black skillet", + "Take the bread loaf with soft surface and put it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Move the bread loaf with soft surface to the iron skillet for frying foods using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it into the round cast-iron skillet.", + "Use the right arm to move the bread loaf with soft surface to the iron skillet for frying foods.", + "Pick the bread loaf with soft surface up and place it in the black skillet", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Take the bread loaf with soft surface and put it in the black skillet", + "Pick up the bread loaf with soft surface and drop it into the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Move the bread with golden crust to the round cast-iron skillet using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Use the right arm to move the bread with golden crust to the iron skillet for frying foods.", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Take the bread with golden crust and put it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Grab the bread with golden crust and place it in the black skillet", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Move the bread loaf with soft surface to the black skillet using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the black skillet", + "Grab the bread with golden crust and place it into the round cast-iron skillet.", + "Use the right arm to move the bread with golden crust to the round cast-iron skillet.", + "Pick the bread loaf with soft surface up and place it in the black skillet", + "Grab the bread loaf with soft surface and set it in the black skillet", + "Take the bread with golden crust and put it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Move the bread with golden crust to the iron skillet for frying foods using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Use the right arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and set it in the black skillet", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the round cast-iron skillet", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Move the bread with golden crust to the iron skillet for frying foods using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the black skillet", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Use the right arm to move the bread with golden crust to the round cast-iron skillet.", + "Pick the bread with golden crust up and place it in the black skillet", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Take the bread with golden crust and put it in the black skillet", + "Pick up the bread with golden crust and drop it into the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Move the bread with golden crust to the iron skillet for frying foods using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the black skillet", + "Grab the rectangular bread loaf and place it into the black skillet.", + "Use the right arm to move the bread with golden crust to the round cast-iron skillet.", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Take the rectangular bread loaf and put it in the black skillet", + "Pick up the bread with golden crust and drop it into the black skillet", + "Grab the bread loaf with soft surface and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Move the rectangular bread loaf to the round cast-iron skillet using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it into the black skillet.", + "Use the right arm to move the bread loaf with soft surface to the iron skillet for frying foods.", + "Pick the bread loaf with soft surface up and place it in the black skillet", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Take the bread loaf with soft surface and put it in the black skillet", + "Pick up the bread loaf with soft surface and drop it into the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Grab the bread with golden crust and drop it into the black skillet.", + "Move the rectangular bread loaf to the iron skillet for frying foods using the right arm.", + "Use the right arm to grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Use the right arm to move the bread with golden crust to the black skillet.", + "Pick the bread with golden crust up and place it in the black skillet", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Move the rectangular bread loaf to the round cast-iron skillet using the right arm.", + "Use the right arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it into the black skillet.", + "Use the right arm to move the bread loaf with soft surface to the black skillet.", + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Grab the bread with golden crust and place it in the black skillet", + "Grab the bread with golden crust and drop it into the black skillet.", + "Move the bread with golden crust to the black skillet using the right arm.", + "Use the right arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Use the right arm to move the bread loaf with soft surface to the black skillet.", + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode26.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode26.json new file mode 100644 index 0000000000000000000000000000000000000000..7f4e30ec95cd57493b6ff4d424213fbac23cf65b --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode26.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Set the soft golden baked bread into the skillet for cooking after grabbing", + "Move the bread with golden surface color from table into the medium round cast iron skillet", + "Take the golden brown loaf-shaped bread and place it inside the pan with dark finish", + "Grab the bread with firm crust edges from the table and set it in the hefty black skillet.", + "Move the square loaf of bread to the gray cooking pan with handle using the right arm", + "Put the square loaf of bread into the gray pan.", + "Pick the bread with rounded corners with the right arm and set it in the medium skillet", + "Use the right arm to lift the bread with golden surface color and place it into the smooth round cooking skillet.", + "Place the bread with rounded corners into the skillet for cooking using the right arm", + "Grab the slice-shaped bread and stick it in the gray pan.", + "Pick up the rectangular bread soft inside and put it in the round skillet with handle", + "Lift the rectangular bread soft inside and drop it into the skillet for cooking", + "Lift the soft golden baked bread and drop it into the round skillet with handle.", + "Grab the golden bread using the right arm and place it in the gray pan", + "Move the bread with golden surface color into the medium skillet from the table", + "Use the right arm to grab the bread with firm crust edges for the hefty black skillet", + "Take the square loaf of bread and place it inside the medium skillet", + "Pick up the brown bread loaf with the right arm and drop it in the medium round cast iron skillet", + "Grab the golden brown loaf-shaped bread with the right arm and place in the smooth round cooking skillet", + "Grab the bread loaf with square shape and place it inside the medium round cast iron skillet.", + "Pick the slice-shaped bread and set it into the hefty black skillet.", + "Take the soft golden baked bread off the table into the hefty black skillet", + "Lift the golden crusted bread slice using the right arm and move it to the hefty black skillet", + "Pick the rectangular bread soft inside and transfer it to the smooth cast iron skillet", + "Use the right arm to take the square loaf of bread and move it into the dark gray skillet.", + "Use the right arm to set the slice-shaped bread into the smooth cast iron skillet.", + "Grab the bread with firm crust edges and place it inside the rounded skillet with a holey handle", + "Use the right arm to pick the bread with golden surface color and place it into the hefty black skillet.", + "Grab the bread loaf with square shape and drop it into the smooth round cooking skillet", + "Use the right arm to grab the bread loaf with square shape and set it in the skillet for cooking.", + "Pick the brown bread loaf up using the right arm and drop it in the medium round cast iron skillet.", + "Use the right arm to pick the soft golden baked bread up for the smooth cast iron skillet", + "Use the right arm to place the rectangular bread soft inside into the pan with dark finish", + "Pick up the bread with golden surface color and place it in the skillet for cooking.", + "Pick the bread with golden surface color off the table and place it in the dark gray skillet.", + "Take the brown bread loaf with the right arm and drop into the dark gray skillet", + "Take the bread with firm crust edges and drop it into the hefty black skillet.", + "Use the right arm to pick the bread with golden surface color for the medium round cast iron skillet", + "Use the right arm to grab the bread with rounded corners for the hefty black skillet", + "Put the golden brown loaf-shaped bread into the dark gray skillet after grabbing it", + "Take the brown bread loaf and put it in the medium skillet.", + "Use the right arm to move the golden crusted bread slice into the gray cooking pan with handle", + "Transfer the golden bread into the pan with dark finish from the table", + "Use the right arm to move the soft golden baked bread and set it into the dark gray skillet.", + "Use the right arm to stick the bread with firm crust edges into the hefty black skillet.", + "Use the right arm to pick the soft golden baked bread and put it in the round skillet with handle", + "Take the golden brown loaf-shaped bread and set it into the gray pan", + "Place the soft golden baked bread from the table into the hefty black skillet", + "Take the slice-shaped bread and put it in the medium round cast iron skillet.", + "Place the golden brown loaf-shaped bread into the rounded skillet with a holey handle with the right arm.", + "Set the slice-shaped bread into the smooth round cooking skillet after grabbing", + "Move the soft golden baked bread from table into the smooth round cooking skillet", + "Take the golden bread and place it inside the medium round cast iron skillet", + "Grab the golden crusted bread slice from the table and set it in the pan with dark finish.", + "Move the bread with golden surface color to the rounded skillet with a holey handle using the right arm", + "Put the rectangular bread soft inside into the smooth round cooking skillet.", + "Pick the bread loaf with square shape with the right arm and set it in the pan with dark finish", + "Use the right arm to lift the golden brown loaf-shaped bread and place it into the pan with dark finish.", + "Place the golden crusted bread slice into the pan with dark finish using the right arm", + "Grab the bread loaf with square shape and stick it in the medium skillet.", + "Pick up the soft golden baked bread and put it in the medium skillet", + "Lift the bread with golden surface color and drop it into the round skillet with handle", + "Lift the square loaf of bread and drop it into the round skillet with handle.", + "Grab the slice-shaped bread using the right arm and place it in the medium round cast iron skillet", + "Move the rectangular bread soft inside into the pan with dark finish from the table", + "Use the right arm to grab the soft golden baked bread for the medium skillet", + "Take the golden bread and place it inside the gray cooking pan with handle", + "Pick up the soft golden baked bread with the right arm and drop it in the smooth round cooking skillet", + "Grab the slice-shaped bread with the right arm and place in the dark gray skillet", + "Grab the square loaf of bread and place it inside the gray pan.", + "Pick the golden bread and set it into the hefty black skillet.", + "Take the golden brown loaf-shaped bread off the table into the pan with dark finish", + "Lift the bread with rounded corners using the right arm and move it to the gray pan", + "Pick the bread with rounded corners and transfer it to the medium round cast iron skillet", + "Use the right arm to take the bread loaf with square shape and move it into the medium skillet.", + "Use the right arm to set the rectangular bread soft inside into the gray cooking pan with handle.", + "Grab the bread with rounded corners and place it inside the dark gray skillet", + "Use the right arm to pick the square loaf of bread and place it into the hefty black skillet.", + "Grab the bread with rounded corners and drop it into the medium skillet", + "Use the right arm to grab the bread with rounded corners and set it in the pan with dark finish.", + "Pick the brown bread loaf up using the right arm and drop it in the rounded skillet with a holey handle.", + "Use the right arm to pick the bread with golden surface color up for the pan with dark finish", + "Use the right arm to place the rectangular bread soft inside into the smooth cast iron skillet", + "Pick up the bread with rounded corners and place it in the round skillet with handle.", + "Pick the bread with rounded corners off the table and place it in the hefty black skillet.", + "Take the bread with firm crust edges with the right arm and drop into the rounded skillet with a holey handle", + "Take the golden brown loaf-shaped bread and drop it into the medium round cast iron skillet.", + "Use the right arm to pick the bread loaf with square shape for the round skillet with handle", + "Use the right arm to grab the golden bread for the smooth cast iron skillet", + "Put the bread with rounded corners into the medium skillet after grabbing it", + "Take the golden bread and put it in the hefty black skillet.", + "Use the right arm to move the bread loaf with square shape into the medium skillet", + "Transfer the bread with rounded corners into the rounded skillet with a holey handle from the table", + "Use the right arm to move the bread loaf with square shape and set it into the hefty black skillet.", + "Use the right arm to stick the bread loaf with square shape into the medium skillet.", + "Use the right arm to pick the square loaf of bread and put it in the pan with dark finish", + "Take the bread with rounded corners and set it into the dark gray skillet", + "Place the golden crusted bread slice from the table into the smooth round cooking skillet", + "Take the bread with firm crust edges and put it in the round skillet with handle.", + "Place the golden crusted bread slice into the medium round cast iron skillet with the right arm." + ], + "unseen": [ + "Grab the soft rectangular bread loaf and drop it into the blackish-gray cast iron skillet.", + "Take the bread loaf medium-sized and put it in the cooking skillet with grippy handle", + "Move the small loaf-shaped bread to the blackish-gray cast iron skillet using the right arm.", + "Grab the bread loaf medium-sized and place it into the dark gray round cast iron pan.", + "Grab the bread loaf medium-sized and set it in the cooking skillet with grippy handle", + "Grab the bread loaf medium-sized and place it in the cooking skillet with grippy handle", + "Pick up the bread loaf medium-sized and drop it into the dark gray round cast iron pan", + "Use the right arm to move the soft rectangular bread loaf to the cooking skillet with grippy handle.", + "Use the right arm to grab the small loaf-shaped bread and set it in the dark gray round cast iron pan", + "Pick the small loaf-shaped bread up and place it in the blackish-gray cast iron skillet", + "Grab the small loaf-shaped bread and drop it into the blackish-gray cast iron skillet.", + "Take the small loaf-shaped bread and put it in the dark gray round cast iron pan", + "Move the small loaf-shaped bread to the cooking skillet with grippy handle using the right arm.", + "Grab the bread loaf medium-sized and place it into the blackish-gray cast iron skillet.", + "Grab the small loaf-shaped bread and set it in the dark gray round cast iron pan", + "Grab the soft rectangular bread loaf and place it in the cooking skillet with grippy handle", + "Pick up the bread loaf medium-sized and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the soft rectangular bread loaf to the blackish-gray cast iron skillet.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Pick the small loaf-shaped bread up and place it in the dark gray round cast iron pan", + "Grab the bread loaf medium-sized and drop it into the cooking skillet with grippy handle.", + "Take the small loaf-shaped bread and put it in the blackish-gray cast iron skillet", + "Move the soft rectangular bread loaf to the blackish-gray cast iron skillet using the right arm.", + "Grab the soft rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Grab the bread loaf medium-sized and set it in the dark gray round cast iron pan", + "Grab the soft rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Pick up the bread loaf medium-sized and drop it into the blackish-gray cast iron skillet", + "Use the right arm to move the soft rectangular bread loaf to the dark gray round cast iron pan.", + "Use the right arm to grab the bread loaf medium-sized and set it in the cooking skillet with grippy handle", + "Pick the bread loaf medium-sized up and place it in the cooking skillet with grippy handle", + "Grab the bread loaf medium-sized and drop it into the dark gray round cast iron pan.", + "Take the soft rectangular bread loaf and put it in the blackish-gray cast iron skillet", + "Move the soft rectangular bread loaf to the dark gray round cast iron pan using the right arm.", + "Grab the soft rectangular bread loaf and place it into the dark gray round cast iron pan.", + "Grab the small loaf-shaped bread and set it in the dark gray round cast iron pan", + "Grab the soft rectangular bread loaf and place it in the blackish-gray cast iron skillet", + "Pick up the bread loaf medium-sized and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the bread loaf medium-sized to the cooking skillet with grippy handle.", + "Use the right arm to grab the bread loaf medium-sized and set it in the cooking skillet with grippy handle", + "Pick the bread loaf medium-sized up and place it in the blackish-gray cast iron skillet", + "Grab the soft rectangular bread loaf and drop it into the cooking skillet with grippy handle.", + "Take the small loaf-shaped bread and put it in the dark gray round cast iron pan", + "Move the soft rectangular bread loaf to the blackish-gray cast iron skillet using the right arm.", + "Grab the bread loaf medium-sized and place it into the cooking skillet with grippy handle.", + "Grab the soft rectangular bread loaf and set it in the dark gray round cast iron pan", + "Grab the bread loaf medium-sized and place it in the blackish-gray cast iron skillet", + "Pick up the bread loaf medium-sized and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the bread loaf medium-sized to the blackish-gray cast iron skillet.", + "Use the right arm to grab the small loaf-shaped bread and set it in the cooking skillet with grippy handle", + "Pick the small loaf-shaped bread up and place it in the dark gray round cast iron pan", + "Grab the bread loaf medium-sized and drop it into the blackish-gray cast iron skillet.", + "Take the soft rectangular bread loaf and put it in the dark gray round cast iron pan", + "Move the small loaf-shaped bread to the blackish-gray cast iron skillet using the right arm.", + "Grab the small loaf-shaped bread and place it into the dark gray round cast iron pan.", + "Grab the bread loaf medium-sized and set it in the cooking skillet with grippy handle", + "Grab the soft rectangular bread loaf and place it in the cooking skillet with grippy handle", + "Pick up the bread loaf medium-sized and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the bread loaf medium-sized to the cooking skillet with grippy handle.", + "Use the right arm to grab the small loaf-shaped bread and set it in the cooking skillet with grippy handle", + "Pick the small loaf-shaped bread up and place it in the cooking skillet with grippy handle", + "Grab the small loaf-shaped bread and drop it into the cooking skillet with grippy handle.", + "Take the small loaf-shaped bread and put it in the dark gray round cast iron pan", + "Move the bread loaf medium-sized to the cooking skillet with grippy handle using the right arm.", + "Grab the soft rectangular bread loaf and place it into the dark gray round cast iron pan.", + "Grab the small loaf-shaped bread and set it in the dark gray round cast iron pan", + "Grab the small loaf-shaped bread and place it in the cooking skillet with grippy handle", + "Pick up the small loaf-shaped bread and drop it into the dark gray round cast iron pan", + "Use the right arm to move the bread loaf medium-sized to the blackish-gray cast iron skillet.", + "Use the right arm to grab the small loaf-shaped bread and set it in the blackish-gray cast iron skillet", + "Pick the soft rectangular bread loaf up and place it in the blackish-gray cast iron skillet", + "Grab the soft rectangular bread loaf and drop it into the dark gray round cast iron pan.", + "Take the small loaf-shaped bread and put it in the cooking skillet with grippy handle", + "Move the bread loaf medium-sized to the blackish-gray cast iron skillet using the right arm.", + "Grab the small loaf-shaped bread and place it into the dark gray round cast iron pan.", + "Grab the small loaf-shaped bread and set it in the blackish-gray cast iron skillet", + "Grab the bread loaf medium-sized and place it in the dark gray round cast iron pan", + "Pick up the bread loaf medium-sized and drop it into the dark gray round cast iron pan", + "Use the right arm to move the soft rectangular bread loaf to the dark gray round cast iron pan.", + "Use the right arm to grab the soft rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Pick the small loaf-shaped bread up and place it in the cooking skillet with grippy handle", + "Grab the bread loaf medium-sized and drop it into the dark gray round cast iron pan.", + "Take the bread loaf medium-sized and put it in the dark gray round cast iron pan", + "Move the bread loaf medium-sized to the cooking skillet with grippy handle using the right arm.", + "Grab the small loaf-shaped bread and place it into the cooking skillet with grippy handle.", + "Grab the soft rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Grab the soft rectangular bread loaf and place it in the dark gray round cast iron pan", + "Pick up the bread loaf medium-sized and drop it into the blackish-gray cast iron skillet", + "Use the right arm to move the small loaf-shaped bread to the blackish-gray cast iron skillet.", + "Use the right arm to grab the bread loaf medium-sized and set it in the blackish-gray cast iron skillet", + "Pick the bread loaf medium-sized up and place it in the blackish-gray cast iron skillet", + "Grab the soft rectangular bread loaf and drop it into the cooking skillet with grippy handle.", + "Take the soft rectangular bread loaf and put it in the cooking skillet with grippy handle", + "Move the bread loaf medium-sized to the cooking skillet with grippy handle using the right arm.", + "Grab the bread loaf medium-sized and place it into the blackish-gray cast iron skillet.", + "Grab the bread loaf medium-sized and set it in the cooking skillet with grippy handle", + "Grab the bread loaf medium-sized and place it in the cooking skillet with grippy handle", + "Pick up the small loaf-shaped bread and drop it into the blackish-gray cast iron skillet", + "Use the right arm to move the soft rectangular bread loaf to the blackish-gray cast iron skillet.", + "Use the right arm to grab the small loaf-shaped bread and set it in the dark gray round cast iron pan", + "Pick the bread loaf medium-sized up and place it in the blackish-gray cast iron skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode27.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode27.json new file mode 100644 index 0000000000000000000000000000000000000000..0bae08be43d958e2acab2b80ccd0273b574be10a --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode27.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the bread block with light patches and drop it into the smooth non-stick skillet.", + "Use the left arm to move the bread with rough texture and set it into the skillet for frying food.", + "Lift the golden bread loaf and drop it into the medium-sized frying skillet", + "Use the left arm to grab the light golden brown bread for the round skillet with open handle end", + "Take the hand-sized bread block and place it inside the flat-bottom skillet", + "Pick the light golden brown bread with the left arm and set it in the round skillet with open handle end", + "Lift the square-shaped bread using the left arm and move it to the metal skillet", + "Grab the cuboid bread and place it inside the flat-bottom skillet.", + "Transfer the bread block with light patches into the round skillet with open handle end from the table", + "Take the bread loaf with bumpy surface and place it inside the skillet with black cooking surface", + "Use the left arm to set the bread loaf with bumpy surface into the dark gray skillet.", + "Use the left arm to take the light golden brown bread and move it into the flat-bottom skillet.", + "Grab the golden bread and place it inside the black-surfaced skillet with gray sides", + "Use the left arm to grab the bread loaf with uneven edges for the round skillet with handle", + "Pick the soft bread off the table and place it in the black-surfaced skillet with gray sides.", + "Use the left arm to move the hand-sized bread block into the black-surfaced skillet with gray sides", + "Put the golden bread loaf into the gray skillet for stovetop cooking.", + "Use the left arm to pick the soft bread for the skillet for frying food", + "Grab the light golden brown bread from the table and set it in the round skillet with handle.", + "Grab the bread with rough texture and drop it into the flat-bottom skillet", + "Pick the square-shaped bread and set it into the skillet with black cooking surface.", + "Use the left arm to place the square-shaped bread into the gray skillet for stovetop cooking", + "Move the hand-sized bread block into the gray skillet for stovetop cooking from the table", + "Take the golden bread with the left arm and drop into the metal skillet with comfortable grip", + "Use the left arm to stick the light golden brown bread into the medium-sized frying skillet.", + "Use the left arm to lift the hand-sized bread block and place it into the round skillet with handle.", + "Take the golden bread and set it into the metal skillet", + "Pick up the soft bread and put it in the metal skillet", + "Put the soft bread into the round skillet with handle after grabbing it", + "Grab the golden bread using the left arm and place it in the flat-bottom skillet", + "Set the bread loaf with bumpy surface into the flat-bottom skillet after grabbing", + "Take the light golden brown bread off the table into the skillet with black cooking surface", + "Use the left arm to grab the square-shaped bread and set it in the round skillet with open handle end.", + "Pick the square-shaped bread up using the left arm and drop it in the flat-bottom skillet.", + "Pick up the doughy and soft bread and place it in the medium-sized frying skillet.", + "Move the doughy and soft bread to the flat-bottom skillet using the left arm", + "Place the bread block with light patches into the gray skillet for stovetop cooking using the left arm", + "Place the light golden brown bread into the medium-sized frying skillet with the left arm.", + "Move the bread loaf with uneven edges from table into the black-surfaced skillet with gray sides", + "Lift the bread with rough texture and drop it into the flat-bottom skillet.", + "Grab the light golden brown bread with the left arm and place in the metal skillet", + "Place the hand-sized bread block from the table into the skillet with black cooking surface", + "Use the left arm to pick the doughy and soft bread and put it in the skillet for frying food", + "Grab the bread loaf with uneven edges and stick it in the skillet with black cooking surface.", + "Take the hand-sized bread block and put it in the medium-sized frying skillet.", + "Use the left arm to pick the bread loaf with uneven edges and place it into the gray skillet for stovetop cooking.", + "Take the hand-sized bread block and put it in the dark gray skillet.", + "Pick up the bread loaf with uneven edges with the left arm and drop it in the gray skillet for stovetop cooking", + "Use the left arm to pick the bread loaf with uneven edges up for the smooth non-stick skillet", + "Pick the golden bread and transfer it to the flat-bottom skillet", + "Take the doughy and soft bread and drop it into the metal skillet with comfortable grip.", + "Use the left arm to move the light golden brown bread and set it into the metal skillet with comfortable grip.", + "Lift the golden bread and drop it into the flat-bottom skillet", + "Use the left arm to grab the square-shaped bread for the metal skillet", + "Take the light golden brown bread and place it inside the flat-bottom skillet", + "Pick the golden bread with the left arm and set it in the skillet with black cooking surface", + "Lift the bread loaf with bumpy surface using the left arm and move it to the medium-sized frying skillet", + "Grab the soft bread and place it inside the metal skillet.", + "Transfer the bread loaf with uneven edges into the metal skillet from the table", + "Take the bread block with light patches and place it inside the metal skillet", + "Use the left arm to set the light golden brown bread into the smooth non-stick skillet.", + "Use the left arm to take the bread block with light patches and move it into the gray skillet for stovetop cooking.", + "Grab the bread block with light patches and place it inside the round skillet with open handle end", + "Use the left arm to grab the golden bread loaf for the skillet for frying food", + "Pick the bread loaf with bumpy surface off the table and place it in the gray skillet for stovetop cooking.", + "Use the left arm to move the square-shaped bread into the medium-sized frying skillet", + "Put the cuboid bread into the skillet with black cooking surface.", + "Use the left arm to pick the soft bread for the metal skillet", + "Grab the hand-sized bread block from the table and set it in the round skillet with open handle end.", + "Grab the cuboid bread and drop it into the round skillet with open handle end", + "Pick the light golden brown bread and set it into the black-surfaced skillet with gray sides.", + "Use the left arm to place the doughy and soft bread into the black-surfaced skillet with gray sides", + "Move the golden bread loaf into the gray skillet for stovetop cooking from the table", + "Take the golden bread loaf with the left arm and drop into the medium-sized frying skillet", + "Use the left arm to stick the golden bread into the dark gray skillet.", + "Use the left arm to lift the bread loaf with bumpy surface and place it into the metal skillet with comfortable grip.", + "Take the square-shaped bread and set it into the smooth non-stick skillet", + "Pick up the golden bread loaf and put it in the dark gray skillet", + "Put the bread block with light patches into the metal skillet with comfortable grip after grabbing it", + "Grab the cuboid bread using the left arm and place it in the smooth non-stick skillet", + "Set the bread loaf with bumpy surface into the skillet for frying food after grabbing", + "Take the golden bread off the table into the medium-sized frying skillet", + "Use the left arm to grab the bread block with light patches and set it in the metal skillet.", + "Pick the bread with rough texture up using the left arm and drop it in the round skillet with handle.", + "Pick up the golden bread and place it in the flat-bottom skillet.", + "Move the bread with rough texture to the black-surfaced skillet with gray sides using the left arm", + "Place the bread block with light patches into the smooth non-stick skillet using the left arm", + "Place the hand-sized bread block into the skillet for frying food with the left arm.", + "Move the soft bread from table into the metal skillet", + "Lift the cuboid bread and drop it into the smooth non-stick skillet.", + "Grab the hand-sized bread block with the left arm and place in the flat-bottom skillet", + "Place the square-shaped bread from the table into the dark gray skillet", + "Use the left arm to pick the golden bread and put it in the skillet with black cooking surface", + "Grab the square-shaped bread and stick it in the metal skillet with comfortable grip.", + "Take the bread block with light patches and put it in the smooth non-stick skillet.", + "Use the left arm to pick the soft bread and place it into the smooth non-stick skillet.", + "Take the bread block with light patches and put it in the flat-bottom skillet.", + "Pick up the bread block with light patches with the left arm and drop it in the smooth non-stick skillet", + "Use the left arm to pick the hand-sized bread block up for the metal skillet with comfortable grip", + "Pick the hand-sized bread block and transfer it to the round skillet with open handle end" + ], + "unseen": [ + "Move the rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Use the left arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the dark skillet with shiny finish using the left arm.", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick the rectangular bread loaf up and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Use the left arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Use the left arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Use the left arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the left arm.", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Use the left arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Move the bread with golden crust to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the left arm.", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Use the left arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode28.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode28.json new file mode 100644 index 0000000000000000000000000000000000000000..6cbe1ab27f805e5418a7c95f8638be888146ad2e --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode28.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the cuboid bread and place it in the rounded skillet with a holey handle.", + "Pick up the bread loaf with uneven edges and put it in the medium round cast iron skillet", + "Take the bread loaf with uneven edges and drop it into the gray pan.", + "Take the light golden brown bread and put it in the medium skillet.", + "Take the doughy and soft bread and place it inside the smooth cast iron skillet", + "Use the left arm to move the light golden brown bread into the dark gray skillet", + "Use the left arm to grab the soft bread and set it in the round skillet with handle.", + "Pick up the hand-sized bread block with the left arm and drop it in the round skillet with handle", + "Use the left arm to lift the bread loaf with uneven edges and place it into the smooth round cooking skillet.", + "Grab the bread block with light patches and place it inside the gray pan.", + "Lift the soft bread and drop it into the hefty black skillet.", + "Use the left arm to pick the doughy and soft bread and place it into the medium skillet.", + "Grab the bread loaf with bumpy surface and stick it in the skillet for cooking.", + "Use the left arm to pick the bread with rough texture for the rounded skillet with a holey handle", + "Move the hand-sized bread block to the gray pan using the left arm", + "Pick the golden bread and transfer it to the gray pan", + "Grab the golden bread using the left arm and place it in the rounded skillet with a holey handle", + "Use the left arm to pick the light golden brown bread up for the hefty black skillet", + "Use the left arm to move the doughy and soft bread and set it into the medium skillet.", + "Move the bread loaf with bumpy surface into the rounded skillet with a holey handle from the table", + "Move the soft bread from table into the pan with dark finish", + "Pick the golden bread up using the left arm and drop it in the pan with dark finish.", + "Place the bread loaf with uneven edges into the medium skillet using the left arm", + "Grab the hand-sized bread block from the table and set it in the pan with dark finish.", + "Put the golden bread loaf into the smooth cast iron skillet after grabbing it", + "Take the light golden brown bread and place it inside the medium round cast iron skillet", + "Use the left arm to pick the cuboid bread and put it in the round skillet with handle", + "Use the left arm to set the hand-sized bread block into the gray pan.", + "Take the soft bread off the table into the round skillet with handle", + "Use the left arm to place the light golden brown bread into the smooth round cooking skillet", + "Transfer the golden bread into the gray cooking pan with handle from the table", + "Grab the cuboid bread and drop it into the medium round cast iron skillet", + "Lift the light golden brown bread and drop it into the gray cooking pan with handle", + "Grab the square-shaped bread with the left arm and place in the dark gray skillet", + "Pick the doughy and soft bread off the table and place it in the smooth cast iron skillet.", + "Use the left arm to stick the bread loaf with uneven edges into the dark gray skillet.", + "Place the cuboid bread into the medium round cast iron skillet with the left arm.", + "Take the doughy and soft bread and set it into the smooth round cooking skillet", + "Place the golden bread from the table into the medium skillet", + "Use the left arm to grab the bread with rough texture for the medium skillet", + "Use the left arm to take the golden bread and move it into the gray cooking pan with handle.", + "Lift the bread block with light patches using the left arm and move it to the hefty black skillet", + "Take the bread loaf with uneven edges and put it in the medium skillet.", + "Pick the doughy and soft bread and set it into the medium round cast iron skillet.", + "Put the golden bread loaf into the skillet for cooking.", + "Use the left arm to grab the doughy and soft bread for the gray pan", + "Set the square-shaped bread into the hefty black skillet after grabbing", + "Grab the bread block with light patches and place it inside the hefty black skillet", + "Take the bread loaf with uneven edges with the left arm and drop into the round skillet with handle", + "Pick the bread block with light patches with the left arm and set it in the medium round cast iron skillet", + "Pick up the golden bread and place it in the medium round cast iron skillet.", + "Pick up the bread block with light patches and put it in the smooth round cooking skillet", + "Take the bread loaf with uneven edges and drop it into the dark gray skillet.", + "Take the bread with rough texture and put it in the smooth round cooking skillet.", + "Take the bread loaf with bumpy surface and place it inside the pan with dark finish", + "Use the left arm to move the golden bread loaf into the round skillet with handle", + "Use the left arm to grab the light golden brown bread and set it in the round skillet with handle.", + "Pick up the golden bread loaf with the left arm and drop it in the gray cooking pan with handle", + "Use the left arm to lift the square-shaped bread and place it into the gray cooking pan with handle.", + "Grab the bread with rough texture and place it inside the round skillet with handle.", + "Lift the square-shaped bread and drop it into the smooth cast iron skillet.", + "Use the left arm to pick the doughy and soft bread and place it into the smooth round cooking skillet.", + "Grab the golden bread and stick it in the round skillet with handle.", + "Use the left arm to pick the golden bread for the rounded skillet with a holey handle", + "Move the square-shaped bread to the gray pan using the left arm", + "Pick the cuboid bread and transfer it to the gray pan", + "Grab the light golden brown bread using the left arm and place it in the smooth cast iron skillet", + "Use the left arm to pick the soft bread up for the round skillet with handle", + "Use the left arm to move the doughy and soft bread and set it into the round skillet with handle.", + "Move the doughy and soft bread into the hefty black skillet from the table", + "Move the bread loaf with uneven edges from table into the gray pan", + "Pick the bread block with light patches up using the left arm and drop it in the rounded skillet with a holey handle.", + "Place the hand-sized bread block into the dark gray skillet using the left arm", + "Grab the square-shaped bread from the table and set it in the hefty black skillet.", + "Put the golden bread into the medium round cast iron skillet after grabbing it", + "Take the bread block with light patches and place it inside the gray cooking pan with handle", + "Use the left arm to pick the bread block with light patches and put it in the pan with dark finish", + "Use the left arm to set the soft bread into the round skillet with handle.", + "Take the bread with rough texture off the table into the smooth cast iron skillet", + "Use the left arm to place the bread loaf with bumpy surface into the skillet for cooking", + "Transfer the soft bread into the medium round cast iron skillet from the table", + "Grab the hand-sized bread block and drop it into the medium round cast iron skillet", + "Lift the square-shaped bread and drop it into the hefty black skillet", + "Grab the bread block with light patches with the left arm and place in the skillet for cooking", + "Pick the cuboid bread off the table and place it in the smooth cast iron skillet.", + "Use the left arm to stick the bread block with light patches into the medium skillet.", + "Place the golden bread into the smooth round cooking skillet with the left arm.", + "Take the bread block with light patches and set it into the skillet for cooking", + "Place the bread loaf with uneven edges from the table into the smooth round cooking skillet", + "Use the left arm to grab the light golden brown bread for the dark gray skillet", + "Use the left arm to take the bread block with light patches and move it into the dark gray skillet.", + "Lift the soft bread using the left arm and move it to the dark gray skillet", + "Take the bread with rough texture and put it in the gray cooking pan with handle.", + "Pick the bread block with light patches and set it into the dark gray skillet.", + "Put the bread loaf with uneven edges into the pan with dark finish.", + "Use the left arm to grab the light golden brown bread for the medium skillet", + "Set the bread with rough texture into the smooth round cooking skillet after grabbing", + "Grab the golden bread loaf and place it inside the dark gray skillet", + "Take the bread block with light patches with the left arm and drop into the medium round cast iron skillet", + "Pick the golden bread loaf with the left arm and set it in the smooth round cooking skillet" + ], + "unseen": [ + "Pick up the bread with golden crust and drop it into the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and place it in the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and place it into the dark gray round cast iron pan.", + "Move the bread loaf with soft surface to the cooking skillet with grippy handle using the left arm.", + "Grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Use the left arm to move the bread loaf with soft surface to the dark gray round cast iron pan.", + "Grab the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet.", + "Take the rectangular bread loaf and put it in the cooking skillet with grippy handle", + "Pick the rectangular bread loaf up and place it in the dark gray round cast iron pan", + "Use the left arm to grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Pick up the bread loaf with soft surface and drop it into the cooking skillet with grippy handle", + "Grab the bread with golden crust and place it in the dark gray round cast iron pan", + "Grab the bread with golden crust and place it into the dark gray round cast iron pan.", + "Move the bread loaf with soft surface to the dark gray round cast iron pan using the left arm.", + "Grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Use the left arm to move the rectangular bread loaf to the blackish-gray cast iron skillet.", + "Grab the bread with golden crust and drop it into the blackish-gray cast iron skillet.", + "Take the bread with golden crust and put it in the cooking skillet with grippy handle", + "Pick the bread with golden crust up and place it in the cooking skillet with grippy handle", + "Use the left arm to grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Pick up the bread loaf with soft surface and drop it into the cooking skillet with grippy handle", + "Grab the bread with golden crust and place it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Move the bread loaf with soft surface to the dark gray round cast iron pan using the left arm.", + "Grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Use the left arm to move the bread with golden crust to the dark gray round cast iron pan.", + "Grab the bread loaf with soft surface and drop it into the cooking skillet with grippy handle.", + "Take the rectangular bread loaf and put it in the blackish-gray cast iron skillet", + "Pick the bread with golden crust up and place it in the blackish-gray cast iron skillet", + "Use the left arm to grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Pick up the bread with golden crust and drop it into the cooking skillet with grippy handle", + "Grab the bread with golden crust and place it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and place it into the blackish-gray cast iron skillet.", + "Move the rectangular bread loaf to the cooking skillet with grippy handle using the left arm.", + "Grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Use the left arm to move the bread loaf with soft surface to the dark gray round cast iron pan.", + "Grab the rectangular bread loaf and drop it into the cooking skillet with grippy handle.", + "Take the bread loaf with soft surface and put it in the blackish-gray cast iron skillet", + "Pick the bread loaf with soft surface up and place it in the blackish-gray cast iron skillet", + "Use the left arm to grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Pick up the rectangular bread loaf and drop it into the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and place it into the blackish-gray cast iron skillet.", + "Move the bread with golden crust to the blackish-gray cast iron skillet using the left arm.", + "Grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Use the left arm to move the bread with golden crust to the dark gray round cast iron pan.", + "Grab the bread loaf with soft surface and drop it into the dark gray round cast iron pan.", + "Take the bread with golden crust and put it in the dark gray round cast iron pan", + "Pick the bread loaf with soft surface up and place it in the cooking skillet with grippy handle", + "Use the left arm to grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Pick up the rectangular bread loaf and drop it into the cooking skillet with grippy handle", + "Grab the bread with golden crust and place it in the cooking skillet with grippy handle", + "Grab the bread with golden crust and place it into the dark gray round cast iron pan.", + "Move the bread loaf with soft surface to the blackish-gray cast iron skillet using the left arm.", + "Grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Use the left arm to move the bread with golden crust to the cooking skillet with grippy handle.", + "Grab the rectangular bread loaf and drop it into the blackish-gray cast iron skillet.", + "Take the rectangular bread loaf and put it in the dark gray round cast iron pan", + "Pick the bread with golden crust up and place it in the blackish-gray cast iron skillet", + "Use the left arm to grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Pick up the bread with golden crust and drop it into the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and place it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it into the dark gray round cast iron pan.", + "Move the bread with golden crust to the blackish-gray cast iron skillet using the left arm.", + "Grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Use the left arm to move the bread loaf with soft surface to the cooking skillet with grippy handle.", + "Grab the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet.", + "Take the bread loaf with soft surface and put it in the cooking skillet with grippy handle", + "Pick the bread loaf with soft surface up and place it in the blackish-gray cast iron skillet", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark gray round cast iron pan", + "Pick up the bread with golden crust and drop it into the blackish-gray cast iron skillet", + "Grab the bread with golden crust and place it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and place it into the dark gray round cast iron pan.", + "Move the bread with golden crust to the dark gray round cast iron pan using the left arm.", + "Grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Use the left arm to move the bread loaf with soft surface to the cooking skillet with grippy handle.", + "Grab the rectangular bread loaf and drop it into the blackish-gray cast iron skillet.", + "Take the bread loaf with soft surface and put it in the cooking skillet with grippy handle", + "Pick the bread loaf with soft surface up and place it in the cooking skillet with grippy handle", + "Use the left arm to grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Pick up the bread with golden crust and drop it into the cooking skillet with grippy handle", + "Grab the bread with golden crust and place it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and place it into the blackish-gray cast iron skillet.", + "Move the rectangular bread loaf to the dark gray round cast iron pan using the left arm.", + "Grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Use the left arm to move the bread with golden crust to the cooking skillet with grippy handle.", + "Grab the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet.", + "Take the rectangular bread loaf and put it in the blackish-gray cast iron skillet", + "Pick the bread with golden crust up and place it in the dark gray round cast iron pan", + "Use the left arm to grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Pick up the rectangular bread loaf and drop it into the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and place it in the cooking skillet with grippy handle", + "Grab the bread with golden crust and place it into the dark gray round cast iron pan.", + "Move the rectangular bread loaf to the dark gray round cast iron pan using the left arm.", + "Grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Use the left arm to move the rectangular bread loaf to the cooking skillet with grippy handle.", + "Grab the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet.", + "Take the rectangular bread loaf and put it in the dark gray round cast iron pan", + "Pick the bread loaf with soft surface up and place it in the blackish-gray cast iron skillet", + "Use the left arm to grab the bread with golden crust and set it in the cooking skillet with grippy handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode29.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode29.json new file mode 100644 index 0000000000000000000000000000000000000000..78ebeecea13d10a95c2a2eace6d06219b923eaf9 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode29.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Place the light brown porous bread into the skillet with black cooking surface using the right arm", + "Set the golden brown bread into the metal skillet with comfortable grip after grabbing", + "Lift the bread with rounded edges and drop it into the round skillet with open handle end.", + "Pick the square-shaped bread piece and set it into the skillet for frying food.", + "Use the right arm to set the golden brown bread into the skillet for frying food.", + "Pick the rounded square loaf and transfer it to the round skillet with handle", + "Place the bread with rounded edges into the round skillet with handle with the right arm.", + "Move the bread with soft texture to the medium-sized frying skillet using the right arm", + "Pick the bread with rounded edges off the table and place it in the round skillet with handle.", + "Pick up the soft square bread and put it in the metal skillet", + "Lift the rounded square loaf and drop it into the medium-sized frying skillet", + "Grab the light brown porous bread and stick it in the round skillet with handle.", + "Use the right arm to pick the light brown porous bread up for the gray skillet for stovetop cooking", + "Pick the fluffy baked bread with the right arm and set it in the round skillet with open handle end", + "Take the soft square bread off the table into the round skillet with open handle end", + "Use the right arm to grab the sponge-textured golden bread for the round skillet with open handle end", + "Grab the square-shaped bread piece with the right arm and place in the metal skillet", + "Take the golden baked bread and place it inside the round skillet with open handle end", + "Use the right arm to pick the golden brown bread and place it into the smooth non-stick skillet.", + "Move the light brown porous bread from table into the round skillet with open handle end", + "Move the bread with soft texture into the gray skillet for stovetop cooking from the table", + "Use the right arm to move the bread with rounded edges and set it into the smooth non-stick skillet.", + "Put the golden baked bread into the smooth non-stick skillet.", + "Pick up the bread with rounded edges and place it in the gray skillet for stovetop cooking.", + "Grab the fluffy baked bread and place it inside the skillet for frying food.", + "Grab the golden baked bread using the right arm and place it in the medium-sized frying skillet", + "Grab the rounded square loaf from the table and set it in the dark gray skillet.", + "Use the right arm to lift the medium bread with rounded sides and place it into the round skillet with open handle end.", + "Take the medium-sized bread piece and put it in the skillet for frying food.", + "Grab the light brown porous bread and drop it into the medium-sized frying skillet", + "Lift the golden baked bread using the right arm and move it to the black-surfaced skillet with gray sides", + "Place the rounded square loaf from the table into the flat-bottom skillet", + "Pick up the bread with soft texture with the right arm and drop it in the round skillet with handle", + "Put the square-shaped bread piece into the metal skillet with comfortable grip after grabbing it", + "Use the right arm to grab the medium bread with rounded sides and set it in the medium-sized frying skillet.", + "Pick the bread with rounded edges up using the right arm and drop it in the metal skillet with comfortable grip.", + "Use the right arm to pick the square-shaped bread piece for the round skillet with open handle end", + "Use the right arm to stick the fluffy baked bread into the skillet for frying food.", + "Take the medium bread with rounded sides with the right arm and drop into the metal skillet", + "Use the right arm to place the bread with soft texture into the round skillet with handle", + "Transfer the light brown porous bread into the black-surfaced skillet with gray sides from the table", + "Grab the fluffy baked bread and place it inside the round skillet with open handle end", + "Use the right arm to grab the sponge-textured golden bread for the metal skillet with comfortable grip", + "Take the golden baked bread and drop it into the skillet with black cooking surface.", + "Take the rounded square loaf and place it inside the skillet for frying food", + "Take the sponge-textured golden bread and set it into the medium-sized frying skillet", + "Use the right arm to take the medium-sized bread piece and move it into the smooth non-stick skillet.", + "Use the right arm to pick the rounded square loaf and put it in the black-surfaced skillet with gray sides", + "Use the right arm to move the rounded square loaf into the metal skillet", + "Take the rounded square loaf and put it in the flat-bottom skillet.", + "Place the medium-sized bread piece into the gray skillet for stovetop cooking using the right arm", + "Set the fluffy baked bread into the round skillet with open handle end after grabbing", + "Lift the medium bread with rounded sides and drop it into the flat-bottom skillet.", + "Pick the light brown porous bread and set it into the round skillet with open handle end.", + "Use the right arm to set the bread with soft texture into the flat-bottom skillet.", + "Pick the light brown porous bread and transfer it to the flat-bottom skillet", + "Place the fluffy baked bread into the round skillet with open handle end with the right arm.", + "Move the light brown porous bread to the medium-sized frying skillet using the right arm", + "Pick the rounded square loaf off the table and place it in the flat-bottom skillet.", + "Pick up the golden baked bread and put it in the medium-sized frying skillet", + "Lift the golden brown bread and drop it into the medium-sized frying skillet", + "Grab the fluffy baked bread and stick it in the metal skillet with comfortable grip.", + "Use the right arm to pick the soft square bread up for the smooth non-stick skillet", + "Pick the bread with soft texture with the right arm and set it in the smooth non-stick skillet", + "Take the golden brown bread off the table into the flat-bottom skillet", + "Use the right arm to grab the sponge-textured golden bread for the black-surfaced skillet with gray sides", + "Grab the bread with rounded edges with the right arm and place in the round skillet with open handle end", + "Take the golden brown bread and place it inside the metal skillet", + "Use the right arm to pick the bread with soft texture and place it into the round skillet with open handle end.", + "Move the rounded square loaf from table into the round skillet with open handle end", + "Move the bread with soft texture into the black-surfaced skillet with gray sides from the table", + "Use the right arm to move the light brown porous bread and set it into the flat-bottom skillet.", + "Put the square-shaped bread piece into the medium-sized frying skillet.", + "Pick up the fluffy baked bread and place it in the round skillet with open handle end.", + "Grab the golden brown bread and place it inside the black-surfaced skillet with gray sides.", + "Grab the medium-sized bread piece using the right arm and place it in the black-surfaced skillet with gray sides", + "Grab the sponge-textured golden bread from the table and set it in the metal skillet.", + "Use the right arm to lift the square-shaped bread piece and place it into the skillet for frying food.", + "Take the medium-sized bread piece and put it in the flat-bottom skillet.", + "Grab the bread with rounded edges and drop it into the round skillet with handle", + "Lift the medium-sized bread piece using the right arm and move it to the smooth non-stick skillet", + "Place the square-shaped bread piece from the table into the dark gray skillet", + "Pick up the sponge-textured golden bread with the right arm and drop it in the round skillet with open handle end", + "Put the soft square bread into the skillet with black cooking surface after grabbing it", + "Use the right arm to grab the rounded square loaf and set it in the black-surfaced skillet with gray sides.", + "Pick the soft square bread up using the right arm and drop it in the black-surfaced skillet with gray sides.", + "Use the right arm to pick the bread with soft texture for the skillet for frying food", + "Use the right arm to stick the medium bread with rounded sides into the metal skillet with comfortable grip.", + "Take the golden brown bread with the right arm and drop into the skillet for frying food", + "Use the right arm to place the bread with soft texture into the metal skillet with comfortable grip", + "Transfer the bread with rounded edges into the smooth non-stick skillet from the table", + "Grab the light brown porous bread and place it inside the metal skillet", + "Use the right arm to grab the bread with rounded edges for the skillet with black cooking surface", + "Take the medium bread with rounded sides and drop it into the dark gray skillet.", + "Take the golden baked bread and place it inside the metal skillet with comfortable grip", + "Take the sponge-textured golden bread and set it into the metal skillet with comfortable grip", + "Use the right arm to take the golden baked bread and move it into the metal skillet.", + "Use the right arm to pick the bread with soft texture and put it in the round skillet with open handle end", + "Use the right arm to move the fluffy baked bread into the metal skillet", + "Take the rounded square loaf and put it in the flat-bottom skillet." + ], + "unseen": [ + "Grab the spongy golden brown bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Use the right arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it in the pan-shaped skillet with hole in handle", + "Take the spongy golden brown bread and put it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the right arm.", + "Pick up the square bread with light spots and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and drop it into the versatile skillet for frying and sauteing.", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Use the right arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Grab the square bread with light spots and drop it into the versatile skillet for frying and sauteing.", + "Grab the spongy golden brown bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the right arm.", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Pick the square bread with light spots up and place it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Take the spongy golden brown bread and put it in the pan-shaped skillet with hole in handle", + "Move the square bread with light spots to the dark skillet with shiny finish using the right arm.", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Use the right arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Pick the soft bread with golden edges up and place it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the versatile skillet for frying and sauteing using the right arm.", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing.", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and place it in the pan-shaped skillet with hole in handle", + "Take the spongy golden brown bread and put it in the versatile skillet for frying and sauteing", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Use the right arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the spongy golden brown bread to the versatile skillet for frying and sauteing.", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the square bread with light spots up and place it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Take the spongy golden brown bread and put it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the right arm.", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode3.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode3.json new file mode 100644 index 0000000000000000000000000000000000000000..085a6e204fff871fe3db598561f079016cf89b04 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode3.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the brown loaf with the left arm and drop into the round cooking pan", + "Use the left arm to pick the hand-sized oval loaf up for the smooth round pan made of iron", + "Grab the bread with split top and stick it in the black skillet with smooth base.", + "Put the small golden brown bread into the medium black pan with handle after grabbing it", + "Take the hand-sized oval loaf and put it in the round pan with hole in handle.", + "Use the left arm to set the bread with golden-brown crust into the medium black pan with handle.", + "Use the left arm to take the small loaf with curved top and move it into the smooth round pan made of iron.", + "Grab the smooth loaf with rounded edges and drop it into the round cooking pan", + "Use the left arm to grab the soft brown bread and set it in the round pan with hole in handle.", + "Pick up the small golden brown bread and put it in the round cooking pan", + "Pick the brown loaf and transfer it to the flat-bottomed skillet with long handle", + "Grab the soft brown bread with the left arm and place in the round cooking pan", + "Use the left arm to stick the light brown loaf with smooth sides into the heavy black cooking skillet.", + "Lift the bread with split top and drop it into the black skillet with smooth base.", + "Pick up the light brown loaf with smooth sides and place it in the versatile skillet for stovetop cooking.", + "Use the left arm to move the hand-sized oval loaf into the solid dark-colored round pan", + "Use the left arm to pick the soft brown bread for the round pan with hole in handle", + "Put the light brown loaf with smooth sides into the solid dark-colored round pan.", + "Lift the soft brown bread using the left arm and move it to the round cooking pan", + "Move the golden bread loaf from table into the medium black pan with handle", + "Place the bread with golden-brown crust from the table into the black pan with curved edges", + "Grab the light brown bread with ridges and place it inside the round pan with hole in handle", + "Use the left arm to pick the light brown bread with ridges and place it into the dark pan with sturdy grip.", + "Take the brown loaf and drop it into the versatile skillet for stovetop cooking.", + "Lift the bread with split top and drop it into the solid dark-colored round pan", + "Take the light brown loaf with smooth sides and set it into the flat-bottomed skillet with long handle", + "Pick the light brown bread with ridges and set it into the round cooking pan.", + "Take the hand-sized oval loaf off the table into the flat-bottomed skillet with long handle", + "Pick up the golden bread loaf with the left arm and drop it in the black skillet with smooth base", + "Use the left arm to pick the smooth loaf with rounded edges and put it in the round pan with hole in handle", + "Grab the smooth loaf with rounded edges from the table and set it in the black pan with curved edges.", + "Take the smooth loaf with rounded edges and place it inside the solid dark-colored round pan", + "Use the left arm to move the small loaf with curved top and set it into the round pan with hole in handle.", + "Take the light brown bread with ridges and put it in the smooth round pan made of iron.", + "Place the light brown loaf with smooth sides into the versatile skillet for stovetop cooking using the left arm", + "Use the left arm to place the small loaf with curved top into the black skillet with smooth base", + "Move the golden bread loaf into the medium black pan with handle from the table", + "Set the light brown bread with ridges into the flat-bottomed skillet with long handle after grabbing", + "Pick the bread with split top off the table and place it in the dark pan with sturdy grip.", + "Move the bread with warm golden color to the versatile skillet for stovetop cooking using the left arm", + "Use the left arm to grab the brown loaf for the heavy black cooking skillet", + "Take the small golden brown bread and place it inside the black skillet with smooth base", + "Grab the light brown loaf with smooth sides using the left arm and place it in the solid dark-colored round pan", + "Use the left arm to lift the light brown loaf with smooth sides and place it into the medium black pan with handle.", + "Pick the hand-sized oval loaf with the left arm and set it in the black skillet with smooth base", + "Grab the smooth loaf with rounded edges and place it inside the smooth round pan made of iron.", + "Place the bread with split top into the solid dark-colored round pan with the left arm.", + "Transfer the golden bread loaf into the black skillet with smooth base from the table", + "Pick the golden bread loaf up using the left arm and drop it in the smooth round pan made of iron.", + "Use the left arm to grab the bread with split top for the solid dark-colored round pan", + "Take the light brown loaf with smooth sides with the left arm and drop into the versatile skillet for stovetop cooking", + "Use the left arm to pick the hand-sized oval loaf up for the smooth round pan made of iron", + "Grab the smooth loaf with rounded edges and stick it in the flat-bottomed skillet with long handle.", + "Put the soft brown bread into the black skillet with smooth base after grabbing it", + "Take the brown loaf and put it in the heavy black cooking skillet.", + "Use the left arm to set the golden bread loaf into the heavy black cooking skillet.", + "Use the left arm to take the light brown loaf with smooth sides and move it into the versatile skillet for stovetop cooking.", + "Grab the small golden brown bread and drop it into the black skillet with smooth base", + "Use the left arm to grab the light brown bread with ridges and set it in the medium black pan with handle.", + "Pick up the hand-sized oval loaf and put it in the heavy black cooking skillet", + "Pick the small golden brown bread and transfer it to the versatile skillet for stovetop cooking", + "Grab the small loaf with curved top with the left arm and place in the black pan with curved edges", + "Use the left arm to stick the small golden brown bread into the round pan with hole in handle.", + "Lift the smooth loaf with rounded edges and drop it into the solid dark-colored round pan.", + "Pick up the light brown bread with ridges and place it in the black skillet with smooth base.", + "Use the left arm to move the hand-sized oval loaf into the solid dark-colored round pan", + "Use the left arm to pick the hand-sized oval loaf for the heavy black cooking skillet", + "Put the golden bread loaf into the black skillet with smooth base.", + "Lift the bread with golden-brown crust using the left arm and move it to the flat-bottomed skillet with long handle", + "Move the smooth loaf with rounded edges from table into the round pan with hole in handle", + "Place the light brown loaf with smooth sides from the table into the dark pan with sturdy grip", + "Grab the soft brown bread and place it inside the versatile skillet for stovetop cooking", + "Use the left arm to pick the small golden brown bread and place it into the dark pan with sturdy grip.", + "Take the soft brown bread and drop it into the dark pan with sturdy grip.", + "Lift the hand-sized oval loaf and drop it into the medium black pan with handle", + "Take the hand-sized oval loaf and set it into the dark pan with sturdy grip", + "Pick the soft brown bread and set it into the black skillet with smooth base.", + "Take the hand-sized oval loaf off the table into the dark pan with sturdy grip", + "Pick up the small golden brown bread with the left arm and drop it in the round pan with hole in handle", + "Use the left arm to pick the light brown bread with ridges and put it in the skillet with extended grip handle", + "Grab the brown loaf from the table and set it in the solid dark-colored round pan.", + "Take the bread with warm golden color and place it inside the black pan with curved edges", + "Use the left arm to move the bread with split top and set it into the skillet with extended grip handle.", + "Take the small golden brown bread and put it in the dark pan with sturdy grip.", + "Place the bread with golden-brown crust into the dark pan with sturdy grip using the left arm", + "Use the left arm to place the hand-sized oval loaf into the solid dark-colored round pan", + "Move the bread with warm golden color into the heavy black cooking skillet from the table", + "Set the brown loaf into the black skillet with smooth base after grabbing", + "Pick the hand-sized oval loaf off the table and place it in the black pan with curved edges.", + "Move the bread with golden-brown crust to the flat-bottomed skillet with long handle using the left arm", + "Use the left arm to grab the bread with warm golden color for the round pan with hole in handle", + "Take the bread with golden-brown crust and place it inside the solid dark-colored round pan", + "Grab the light brown bread with ridges using the left arm and place it in the medium black pan with handle", + "Use the left arm to lift the golden bread loaf and place it into the smooth round pan made of iron.", + "Pick the golden bread loaf with the left arm and set it in the heavy black cooking skillet", + "Grab the light brown bread with ridges and place it inside the versatile skillet for stovetop cooking.", + "Place the light brown bread with ridges into the medium black pan with handle with the left arm.", + "Transfer the bread with golden-brown crust into the black pan with curved edges from the table", + "Pick the smooth loaf with rounded edges up using the left arm and drop it in the heavy black cooking skillet.", + "Use the left arm to grab the bread with warm golden color for the smooth round pan made of iron" + ], + "unseen": [ + "Grab the oval bread and place it in the black skillet", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Grab the oval bread and set it in the black skillet", + "Pick up the rounded oval bread and drop it into the black skillet", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Take the oval bread and put it in the round cast-iron skillet", + "Move the oval-shaped soft bread to the round cast-iron skillet using the left arm.", + "Use the left arm to grab the oval bread and set it in the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Use the left arm to move the oval-shaped soft bread to the black skillet.", + "Grab the oval bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Take the oval bread and put it in the black skillet", + "Move the rounded oval bread to the iron skillet for frying foods using the left arm.", + "Use the left arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Pick the rounded oval bread up and place it in the black skillet", + "Use the left arm to move the rounded oval bread to the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it in the black skillet", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Pick up the oval-shaped soft bread and drop it into the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the black skillet using the left arm.", + "Use the left arm to grab the rounded oval bread and set it in the black skillet", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Use the left arm to move the oval bread to the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the black skillet.", + "Grab the oval bread and set it in the black skillet", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Grab the oval bread and place it into the iron skillet for frying foods.", + "Take the oval bread and put it in the black skillet", + "Move the oval-shaped soft bread to the black skillet using the left arm.", + "Use the left arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Use the left arm to move the rounded oval bread to the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the black skillet.", + "Grab the oval bread and set it in the round cast-iron skillet", + "Pick up the rounded oval bread and drop it into the black skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Take the oval bread and put it in the black skillet", + "Move the rounded oval bread to the black skillet using the left arm.", + "Use the left arm to grab the oval-shaped soft bread and set it in the black skillet", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Use the left arm to move the oval-shaped soft bread to the black skillet.", + "Grab the rounded oval bread and place it in the black skillet", + "Grab the oval bread and drop it into the black skillet.", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Take the rounded oval bread and put it in the black skillet", + "Move the oval bread to the round cast-iron skillet using the left arm.", + "Use the left arm to grab the oval-shaped soft bread and set it in the black skillet", + "Pick the rounded oval bread up and place it in the iron skillet for frying foods", + "Use the left arm to move the oval bread to the round cast-iron skillet.", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the black skillet.", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Pick up the oval bread and drop it into the black skillet", + "Grab the oval bread and place it into the black skillet.", + "Take the oval bread and put it in the round cast-iron skillet", + "Move the rounded oval bread to the black skillet using the left arm.", + "Use the left arm to grab the oval bread and set it in the black skillet", + "Pick the oval bread up and place it in the black skillet", + "Use the left arm to move the rounded oval bread to the iron skillet for frying foods.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Grab the rounded oval bread and drop it into the black skillet.", + "Grab the rounded oval bread and set it in the black skillet", + "Pick up the oval bread and drop it into the black skillet", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Take the oval bread and put it in the iron skillet for frying foods", + "Move the rounded oval bread to the black skillet using the left arm.", + "Use the left arm to grab the rounded oval bread and set it in the black skillet", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Use the left arm to move the oval-shaped soft bread to the black skillet.", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Grab the oval bread and place it into the black skillet.", + "Take the oval bread and put it in the black skillet", + "Move the oval bread to the black skillet using the left arm.", + "Use the left arm to grab the oval bread and set it in the round cast-iron skillet", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Use the left arm to move the oval bread to the black skillet.", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Pick up the rounded oval bread and drop it into the black skillet", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Take the oval bread and put it in the black skillet", + "Move the oval bread to the iron skillet for frying foods using the left arm.", + "Use the left arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Pick the oval bread up and place it in the iron skillet for frying foods", + "Use the left arm to move the oval-shaped soft bread to the black skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode30.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode30.json new file mode 100644 index 0000000000000000000000000000000000000000..eb75e215d6e204cde7aa6196287e8a82345fce5e --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode30.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to take the soft brown bread and move it into the gray cooking pan with handle.", + "Pick the light brown loaf with smooth sides with the right arm and set it in the gray cooking pan with handle", + "Use the right arm to pick the small loaf with curved top for the rounded skillet with a holey handle", + "Take the golden bread loaf and place it inside the smooth cast iron skillet", + "Grab the small loaf with curved top and drop it into the pan with dark finish", + "Place the small loaf with curved top into the dark gray skillet using the right arm", + "Use the right arm to grab the light brown bread with ridges and set it in the pan with dark finish.", + "Transfer the light brown bread with ridges into the pan with dark finish from the table", + "Take the light brown loaf with smooth sides and put it in the gray cooking pan with handle.", + "Take the bread with split top and put it in the smooth round cooking skillet.", + "Grab the light brown loaf with smooth sides and place it inside the hefty black skillet", + "Use the right arm to pick the smooth loaf with rounded edges and put it in the round skillet with handle", + "Take the smooth loaf with rounded edges with the right arm and drop into the smooth cast iron skillet", + "Grab the bread with warm golden color from the table and set it in the gray cooking pan with handle.", + "Lift the light brown bread with ridges and drop it into the smooth cast iron skillet", + "Move the bread with warm golden color into the skillet for cooking from the table", + "Pick the smooth loaf with rounded edges off the table and place it in the round skillet with handle.", + "Take the soft brown bread and drop it into the gray pan.", + "Use the right arm to move the hand-sized oval loaf into the medium skillet", + "Use the right arm to lift the bread with golden-brown crust and place it into the round skillet with handle.", + "Use the right arm to set the bread with warm golden color into the medium round cast iron skillet.", + "Put the bread with golden-brown crust into the dark gray skillet after grabbing it", + "Lift the golden bread loaf and drop it into the medium skillet.", + "Pick up the smooth loaf with rounded edges and put it in the medium round cast iron skillet", + "Use the right arm to place the bread with split top into the gray cooking pan with handle", + "Use the right arm to stick the brown loaf into the smooth cast iron skillet.", + "Grab the small golden brown bread with the right arm and place in the gray pan", + "Pick up the light brown bread with ridges with the right arm and drop it in the medium round cast iron skillet", + "Lift the bread with golden-brown crust using the right arm and move it to the hefty black skillet", + "Pick up the hand-sized oval loaf and place it in the rounded skillet with a holey handle.", + "Move the golden bread loaf from table into the dark gray skillet", + "Set the small loaf with curved top into the pan with dark finish after grabbing", + "Take the golden bread loaf off the table into the skillet for cooking", + "Put the smooth loaf with rounded edges into the hefty black skillet.", + "Use the right arm to grab the hand-sized oval loaf for the pan with dark finish", + "Grab the soft brown bread and place it inside the rounded skillet with a holey handle.", + "Pick the smooth loaf with rounded edges and transfer it to the round skillet with handle", + "Move the bread with golden-brown crust to the medium skillet using the right arm", + "Grab the small loaf with curved top using the right arm and place it in the skillet for cooking", + "Use the right arm to grab the soft brown bread for the skillet for cooking", + "Use the right arm to move the bread with warm golden color and set it into the hefty black skillet.", + "Place the small loaf with curved top from the table into the gray pan", + "Pick the small loaf with curved top and set it into the medium skillet.", + "Grab the small loaf with curved top and stick it in the smooth cast iron skillet.", + "Take the golden bread loaf and set it into the gray cooking pan with handle", + "Use the right arm to pick the light brown bread with ridges and place it into the gray cooking pan with handle.", + "Pick the hand-sized oval loaf up using the right arm and drop it in the pan with dark finish.", + "Take the light brown loaf with smooth sides and place it inside the smooth round cooking skillet", + "Place the brown loaf into the round skillet with handle with the right arm.", + "Use the right arm to pick the light brown bread with ridges up for the medium skillet", + "Use the right arm to take the golden bread loaf and move it into the hefty black skillet.", + "Pick the golden bread loaf with the right arm and set it in the medium round cast iron skillet", + "Use the right arm to pick the light brown loaf with smooth sides for the dark gray skillet", + "Take the hand-sized oval loaf and place it inside the smooth round cooking skillet", + "Grab the small golden brown bread and drop it into the smooth cast iron skillet", + "Place the golden bread loaf into the medium skillet using the right arm", + "Use the right arm to grab the smooth loaf with rounded edges and set it in the gray pan.", + "Transfer the bread with warm golden color into the hefty black skillet from the table", + "Take the soft brown bread and put it in the skillet for cooking.", + "Take the golden bread loaf and put it in the skillet for cooking.", + "Grab the bread with golden-brown crust and place it inside the hefty black skillet", + "Use the right arm to pick the light brown loaf with smooth sides and put it in the medium skillet", + "Take the bread with warm golden color with the right arm and drop into the medium round cast iron skillet", + "Grab the small golden brown bread from the table and set it in the medium round cast iron skillet.", + "Lift the light brown bread with ridges and drop it into the medium skillet", + "Move the hand-sized oval loaf into the smooth cast iron skillet from the table", + "Pick the smooth loaf with rounded edges off the table and place it in the skillet for cooking.", + "Take the small loaf with curved top and drop it into the smooth round cooking skillet.", + "Use the right arm to move the light brown bread with ridges into the medium round cast iron skillet", + "Use the right arm to lift the bread with golden-brown crust and place it into the gray cooking pan with handle.", + "Use the right arm to set the bread with split top into the pan with dark finish.", + "Put the small golden brown bread into the dark gray skillet after grabbing it", + "Lift the smooth loaf with rounded edges and drop it into the skillet for cooking.", + "Pick up the bread with split top and put it in the smooth round cooking skillet", + "Use the right arm to place the hand-sized oval loaf into the round skillet with handle", + "Use the right arm to stick the light brown bread with ridges into the gray cooking pan with handle.", + "Grab the soft brown bread with the right arm and place in the gray pan", + "Pick up the small golden brown bread with the right arm and drop it in the gray pan", + "Lift the bread with golden-brown crust using the right arm and move it to the medium round cast iron skillet", + "Pick up the bread with golden-brown crust and place it in the gray cooking pan with handle.", + "Move the bread with split top from table into the smooth cast iron skillet", + "Set the golden bread loaf into the gray pan after grabbing", + "Take the bread with split top off the table into the smooth round cooking skillet", + "Put the bread with warm golden color into the dark gray skillet.", + "Use the right arm to grab the brown loaf for the gray pan", + "Grab the bread with golden-brown crust and place it inside the gray cooking pan with handle.", + "Pick the small loaf with curved top and transfer it to the medium round cast iron skillet", + "Move the golden bread loaf to the medium round cast iron skillet using the right arm", + "Grab the smooth loaf with rounded edges using the right arm and place it in the rounded skillet with a holey handle", + "Use the right arm to grab the golden bread loaf for the smooth cast iron skillet", + "Use the right arm to move the bread with golden-brown crust and set it into the gray cooking pan with handle.", + "Place the golden bread loaf from the table into the round skillet with handle", + "Pick the golden bread loaf and set it into the gray pan.", + "Grab the light brown loaf with smooth sides and stick it in the medium round cast iron skillet.", + "Take the small golden brown bread and set it into the gray cooking pan with handle", + "Use the right arm to pick the small golden brown bread and place it into the pan with dark finish.", + "Pick the bread with golden-brown crust up using the right arm and drop it in the pan with dark finish.", + "Take the golden bread loaf and place it inside the dark gray skillet", + "Place the smooth loaf with rounded edges into the smooth cast iron skillet with the right arm.", + "Use the right arm to pick the golden bread loaf up for the pan with dark finish" + ], + "unseen": [ + "Use the right arm to move the oval-shaped soft bread to the blackish-gray cast iron skillet.", + "Pick up the oval bread and drop it into the cooking skillet with grippy handle", + "Grab the oval bread and place it into the cooking skillet with grippy handle.", + "Move the oval-shaped soft bread to the blackish-gray cast iron skillet using the right arm.", + "Take the rounded oval bread and put it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and place it in the dark gray round cast iron pan", + "Pick the oval bread up and place it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Use the right arm to grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to move the oval-shaped soft bread to the blackish-gray cast iron skillet.", + "Pick up the rounded oval bread and drop it into the dark gray round cast iron pan", + "Grab the rounded oval bread and place it into the blackish-gray cast iron skillet.", + "Move the oval bread to the blackish-gray cast iron skillet using the right arm.", + "Take the oval bread and put it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and place it in the blackish-gray cast iron skillet", + "Pick the oval-shaped soft bread up and place it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to move the oval-shaped soft bread to the dark gray round cast iron pan.", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Grab the oval bread and place it into the blackish-gray cast iron skillet.", + "Move the rounded oval bread to the cooking skillet with grippy handle using the right arm.", + "Take the oval-shaped soft bread and put it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it in the blackish-gray cast iron skillet", + "Pick the oval-shaped soft bread up and place it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Use the right arm to grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and drop it into the cooking skillet with grippy handle.", + "Use the right arm to move the oval-shaped soft bread to the blackish-gray cast iron skillet.", + "Pick up the rounded oval bread and drop it into the cooking skillet with grippy handle", + "Grab the rounded oval bread and place it into the cooking skillet with grippy handle.", + "Move the rounded oval bread to the dark gray round cast iron pan using the right arm.", + "Take the oval-shaped soft bread and put it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and place it in the blackish-gray cast iron skillet", + "Pick the oval-shaped soft bread up and place it in the cooking skillet with grippy handle", + "Grab the oval bread and set it in the blackish-gray cast iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to move the oval-shaped soft bread to the blackish-gray cast iron skillet.", + "Pick up the rounded oval bread and drop it into the dark gray round cast iron pan", + "Grab the oval bread and place it into the blackish-gray cast iron skillet.", + "Move the rounded oval bread to the cooking skillet with grippy handle using the right arm.", + "Take the oval-shaped soft bread and put it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and place it in the dark gray round cast iron pan", + "Pick the rounded oval bread up and place it in the cooking skillet with grippy handle", + "Grab the oval bread and set it in the dark gray round cast iron pan", + "Use the right arm to grab the oval bread and set it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet.", + "Use the right arm to move the rounded oval bread to the cooking skillet with grippy handle.", + "Pick up the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and place it into the dark gray round cast iron pan.", + "Move the rounded oval bread to the cooking skillet with grippy handle using the right arm.", + "Take the oval bread and put it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and place it in the blackish-gray cast iron skillet", + "Pick the rounded oval bread up and place it in the dark gray round cast iron pan", + "Grab the oval bread and set it in the dark gray round cast iron pan", + "Use the right arm to grab the oval bread and set it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and drop it into the cooking skillet with grippy handle.", + "Use the right arm to move the oval-shaped soft bread to the dark gray round cast iron pan.", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it into the cooking skillet with grippy handle.", + "Move the oval-shaped soft bread to the blackish-gray cast iron skillet using the right arm.", + "Take the rounded oval bread and put it in the dark gray round cast iron pan", + "Grab the oval bread and place it in the cooking skillet with grippy handle", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Grab the oval bread and set it in the dark gray round cast iron pan", + "Use the right arm to grab the oval bread and set it in the blackish-gray cast iron skillet", + "Grab the oval bread and drop it into the cooking skillet with grippy handle.", + "Use the right arm to move the oval-shaped soft bread to the dark gray round cast iron pan.", + "Pick up the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it into the blackish-gray cast iron skillet.", + "Move the rounded oval bread to the cooking skillet with grippy handle using the right arm.", + "Take the oval bread and put it in the cooking skillet with grippy handle", + "Grab the oval bread and place it in the dark gray round cast iron pan", + "Pick the rounded oval bread up and place it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Use the right arm to grab the oval bread and set it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and drop it into the cooking skillet with grippy handle.", + "Use the right arm to move the rounded oval bread to the blackish-gray cast iron skillet.", + "Pick up the oval-shaped soft bread and drop it into the dark gray round cast iron pan", + "Grab the oval bread and place it into the cooking skillet with grippy handle.", + "Move the oval-shaped soft bread to the dark gray round cast iron pan using the right arm.", + "Take the oval bread and put it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and place it in the cooking skillet with grippy handle", + "Pick the oval-shaped soft bread up and place it in the blackish-gray cast iron skillet", + "Grab the oval bread and set it in the dark gray round cast iron pan", + "Use the right arm to grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Grab the oval bread and drop it into the dark gray round cast iron pan.", + "Use the right arm to move the oval bread to the dark gray round cast iron pan.", + "Pick up the oval-shaped soft bread and drop it into the dark gray round cast iron pan", + "Grab the oval bread and place it into the blackish-gray cast iron skillet.", + "Move the oval bread to the dark gray round cast iron pan using the right arm.", + "Take the oval-shaped soft bread and put it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it in the dark gray round cast iron pan", + "Pick the oval-shaped soft bread up and place it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Use the right arm to grab the oval bread and set it in the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode31.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode31.json new file mode 100644 index 0000000000000000000000000000000000000000..f182c305366133a21bcabae6d33263f09e97ba41 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode31.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the light brown loaf with smooth sides and place it inside the pan with dark finish", + "Grab the bread with split top with the left arm and place in the dark gray skillet", + "Take the bread with golden-brown crust and place it inside the round skillet with handle", + "Pick the light brown bread with ridges and transfer it to the smooth round cooking skillet", + "Move the golden bread loaf from table into the skillet for cooking", + "Use the left arm to take the small golden brown bread and move it into the dark gray skillet.", + "Grab the bread with split top and drop it into the dark gray skillet", + "Take the small golden brown bread and put it in the gray cooking pan with handle.", + "Place the light brown bread with ridges from the table into the rounded skillet with a holey handle", + "Use the left arm to move the smooth loaf with rounded edges and set it into the skillet for cooking.", + "Put the bread with golden-brown crust into the dark gray skillet.", + "Take the hand-sized oval loaf with the left arm and drop into the gray pan", + "Use the left arm to grab the golden bread loaf and set it in the skillet for cooking.", + "Lift the golden bread loaf and drop it into the smooth round cooking skillet.", + "Transfer the golden bread loaf into the round skillet with handle from the table", + "Take the small loaf with curved top and place it inside the smooth round cooking skillet", + "Move the golden bread loaf to the medium round cast iron skillet using the left arm", + "Pick the brown loaf with the left arm and set it in the gray pan", + "Pick up the bread with warm golden color and place it in the pan with dark finish.", + "Pick the bread with warm golden color and set it into the hefty black skillet.", + "Place the light brown loaf with smooth sides into the pan with dark finish using the left arm", + "Use the left arm to pick the bread with warm golden color and put it in the smooth round cooking skillet", + "Move the light brown loaf with smooth sides into the gray cooking pan with handle from the table", + "Pick the hand-sized oval loaf off the table and place it in the gray cooking pan with handle.", + "Take the brown loaf and set it into the medium skillet", + "Put the bread with split top into the skillet for cooking after grabbing it", + "Use the left arm to set the hand-sized oval loaf into the dark gray skillet.", + "Use the left arm to pick the brown loaf and place it into the dark gray skillet.", + "Use the left arm to grab the soft brown bread for the smooth cast iron skillet", + "Grab the golden bread loaf and place it inside the skillet for cooking.", + "Pick the golden bread loaf up using the left arm and drop it in the smooth round cooking skillet.", + "Use the left arm to lift the smooth loaf with rounded edges and place it into the skillet for cooking.", + "Take the small loaf with curved top and put it in the pan with dark finish.", + "Lift the small loaf with curved top and drop it into the rounded skillet with a holey handle", + "Grab the bread with split top from the table and set it in the gray pan.", + "Set the small golden brown bread into the dark gray skillet after grabbing", + "Use the left arm to pick the light brown bread with ridges up for the gray cooking pan with handle", + "Use the left arm to place the light brown loaf with smooth sides into the medium skillet", + "Take the smooth loaf with rounded edges off the table into the medium skillet", + "Pick up the light brown loaf with smooth sides with the left arm and drop it in the skillet for cooking", + "Place the brown loaf into the smooth cast iron skillet with the left arm.", + "Pick up the bread with split top and put it in the pan with dark finish", + "Grab the brown loaf using the left arm and place it in the pan with dark finish", + "Use the left arm to grab the hand-sized oval loaf for the dark gray skillet", + "Take the light brown loaf with smooth sides and drop it into the gray pan.", + "Use the left arm to pick the smooth loaf with rounded edges for the skillet for cooking", + "Use the left arm to stick the hand-sized oval loaf into the dark gray skillet.", + "Lift the light brown bread with ridges using the left arm and move it to the gray pan", + "Use the left arm to move the golden bread loaf into the medium round cast iron skillet", + "Grab the soft brown bread and stick it in the gray pan.", + "Grab the bread with warm golden color and place it inside the pan with dark finish", + "Grab the golden bread loaf with the left arm and place in the medium round cast iron skillet", + "Take the brown loaf and place it inside the smooth cast iron skillet", + "Pick the light brown loaf with smooth sides and transfer it to the rounded skillet with a holey handle", + "Move the bread with split top from table into the pan with dark finish", + "Use the left arm to take the bread with golden-brown crust and move it into the smooth cast iron skillet.", + "Grab the hand-sized oval loaf and drop it into the skillet for cooking", + "Take the small golden brown bread and put it in the skillet for cooking.", + "Place the light brown bread with ridges from the table into the rounded skillet with a holey handle", + "Use the left arm to move the bread with split top and set it into the skillet for cooking.", + "Put the light brown loaf with smooth sides into the medium skillet.", + "Take the brown loaf with the left arm and drop into the gray cooking pan with handle", + "Use the left arm to grab the golden bread loaf and set it in the rounded skillet with a holey handle.", + "Lift the bread with warm golden color and drop it into the skillet for cooking.", + "Transfer the light brown loaf with smooth sides into the pan with dark finish from the table", + "Take the bread with warm golden color and place it inside the skillet for cooking", + "Move the hand-sized oval loaf to the round skillet with handle using the left arm", + "Pick the bread with warm golden color with the left arm and set it in the round skillet with handle", + "Pick up the small loaf with curved top and place it in the medium round cast iron skillet.", + "Pick the hand-sized oval loaf and set it into the medium round cast iron skillet.", + "Place the golden bread loaf into the hefty black skillet using the left arm", + "Use the left arm to pick the soft brown bread and put it in the smooth cast iron skillet", + "Move the smooth loaf with rounded edges into the medium skillet from the table", + "Pick the bread with warm golden color off the table and place it in the hefty black skillet.", + "Take the small loaf with curved top and set it into the hefty black skillet", + "Put the brown loaf into the gray cooking pan with handle after grabbing it", + "Use the left arm to set the hand-sized oval loaf into the pan with dark finish.", + "Use the left arm to pick the light brown loaf with smooth sides and place it into the gray pan.", + "Use the left arm to grab the golden bread loaf for the medium round cast iron skillet", + "Grab the small loaf with curved top and place it inside the dark gray skillet.", + "Pick the small golden brown bread up using the left arm and drop it in the smooth cast iron skillet.", + "Use the left arm to lift the small golden brown bread and place it into the pan with dark finish.", + "Take the bread with warm golden color and put it in the round skillet with handle.", + "Lift the light brown loaf with smooth sides and drop it into the gray cooking pan with handle", + "Grab the hand-sized oval loaf from the table and set it in the smooth cast iron skillet.", + "Set the small golden brown bread into the medium skillet after grabbing", + "Use the left arm to pick the small loaf with curved top up for the hefty black skillet", + "Use the left arm to place the bread with warm golden color into the hefty black skillet", + "Take the small loaf with curved top off the table into the medium skillet", + "Pick up the bread with split top with the left arm and drop it in the hefty black skillet", + "Place the brown loaf into the medium skillet with the left arm.", + "Pick up the golden bread loaf and put it in the medium skillet", + "Grab the light brown bread with ridges using the left arm and place it in the rounded skillet with a holey handle", + "Use the left arm to grab the light brown loaf with smooth sides for the gray pan", + "Take the golden bread loaf and drop it into the hefty black skillet.", + "Use the left arm to pick the soft brown bread for the gray pan", + "Use the left arm to stick the bread with golden-brown crust into the dark gray skillet.", + "Lift the golden bread loaf using the left arm and move it to the hefty black skillet", + "Use the left arm to move the bread with warm golden color into the smooth cast iron skillet", + "Grab the bread with split top and stick it in the smooth round cooking skillet." + ], + "unseen": [ + "Take the oval-shaped soft bread and put it in the cooking skillet with grippy handle", + "Grab the oval bread and set it in the cooking skillet with grippy handle", + "Grab the oval bread and place it into the blackish-gray cast iron skillet.", + "Use the left arm to grab the oval bread and set it in the cooking skillet with grippy handle", + "Move the rounded oval bread to the dark gray round cast iron pan using the left arm.", + "Pick up the oval-shaped soft bread and drop it into the cooking skillet with grippy handle", + "Use the left arm to move the oval-shaped soft bread to the cooking skillet with grippy handle.", + "Grab the rounded oval bread and drop it into the blackish-gray cast iron skillet.", + "Grab the oval bread and place it in the dark gray round cast iron pan", + "Pick the oval bread up and place it in the blackish-gray cast iron skillet", + "Take the rounded oval bread and put it in the cooking skillet with grippy handle", + "Grab the oval bread and set it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and place it into the cooking skillet with grippy handle.", + "Use the left arm to grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Move the rounded oval bread to the cooking skillet with grippy handle using the left arm.", + "Pick up the oval-shaped soft bread and drop it into the cooking skillet with grippy handle", + "Use the left arm to move the oval bread to the cooking skillet with grippy handle.", + "Grab the oval bread and drop it into the blackish-gray cast iron skillet.", + "Grab the oval-shaped soft bread and place it in the cooking skillet with grippy handle", + "Pick the oval bread up and place it in the blackish-gray cast iron skillet", + "Take the oval-shaped soft bread and put it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Grab the oval bread and place it into the dark gray round cast iron pan.", + "Use the left arm to grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Move the oval bread to the blackish-gray cast iron skillet using the left arm.", + "Pick up the oval bread and drop it into the dark gray round cast iron pan", + "Use the left arm to move the oval-shaped soft bread to the blackish-gray cast iron skillet.", + "Grab the oval-shaped soft bread and drop it into the cooking skillet with grippy handle.", + "Grab the oval-shaped soft bread and place it in the cooking skillet with grippy handle", + "Pick the rounded oval bread up and place it in the blackish-gray cast iron skillet", + "Take the rounded oval bread and put it in the dark gray round cast iron pan", + "Grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and place it into the dark gray round cast iron pan.", + "Use the left arm to grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Move the rounded oval bread to the cooking skillet with grippy handle using the left arm.", + "Pick up the rounded oval bread and drop it into the blackish-gray cast iron skillet", + "Use the left arm to move the rounded oval bread to the dark gray round cast iron pan.", + "Grab the oval-shaped soft bread and drop it into the cooking skillet with grippy handle.", + "Grab the oval-shaped soft bread and place it in the cooking skillet with grippy handle", + "Pick the oval bread up and place it in the dark gray round cast iron pan", + "Take the oval bread and put it in the dark gray round cast iron pan", + "Grab the oval bread and set it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it into the cooking skillet with grippy handle.", + "Use the left arm to grab the oval bread and set it in the cooking skillet with grippy handle", + "Move the oval-shaped soft bread to the cooking skillet with grippy handle using the left arm.", + "Pick up the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet", + "Use the left arm to move the oval-shaped soft bread to the cooking skillet with grippy handle.", + "Grab the rounded oval bread and drop it into the blackish-gray cast iron skillet.", + "Grab the oval bread and place it in the dark gray round cast iron pan", + "Pick the rounded oval bread up and place it in the cooking skillet with grippy handle", + "Take the oval bread and put it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Grab the oval bread and place it into the blackish-gray cast iron skillet.", + "Use the left arm to grab the oval bread and set it in the cooking skillet with grippy handle", + "Move the rounded oval bread to the blackish-gray cast iron skillet using the left arm.", + "Pick up the rounded oval bread and drop it into the blackish-gray cast iron skillet", + "Use the left arm to move the rounded oval bread to the dark gray round cast iron pan.", + "Grab the oval bread and drop it into the cooking skillet with grippy handle.", + "Grab the oval-shaped soft bread and place it in the blackish-gray cast iron skillet", + "Pick the oval-shaped soft bread up and place it in the blackish-gray cast iron skillet", + "Take the oval-shaped soft bread and put it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and place it into the dark gray round cast iron pan.", + "Use the left arm to grab the oval bread and set it in the blackish-gray cast iron skillet", + "Move the oval bread to the cooking skillet with grippy handle using the left arm.", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Use the left arm to move the rounded oval bread to the dark gray round cast iron pan.", + "Grab the oval bread and drop it into the cooking skillet with grippy handle.", + "Grab the oval-shaped soft bread and place it in the blackish-gray cast iron skillet", + "Pick the oval-shaped soft bread up and place it in the cooking skillet with grippy handle", + "Take the oval-shaped soft bread and put it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Grab the rounded oval bread and place it into the cooking skillet with grippy handle.", + "Use the left arm to grab the oval bread and set it in the blackish-gray cast iron skillet", + "Move the rounded oval bread to the blackish-gray cast iron skillet using the left arm.", + "Pick up the oval bread and drop it into the cooking skillet with grippy handle", + "Use the left arm to move the oval bread to the blackish-gray cast iron skillet.", + "Grab the oval bread and drop it into the blackish-gray cast iron skillet.", + "Grab the oval-shaped soft bread and place it in the dark gray round cast iron pan", + "Pick the oval-shaped soft bread up and place it in the dark gray round cast iron pan", + "Take the oval bread and put it in the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Grab the oval bread and place it into the blackish-gray cast iron skillet.", + "Use the left arm to grab the oval-shaped soft bread and set it in the dark gray round cast iron pan", + "Move the rounded oval bread to the blackish-gray cast iron skillet using the left arm.", + "Pick up the oval bread and drop it into the cooking skillet with grippy handle", + "Use the left arm to move the oval bread to the cooking skillet with grippy handle.", + "Grab the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet.", + "Grab the rounded oval bread and place it in the cooking skillet with grippy handle", + "Pick the rounded oval bread up and place it in the dark gray round cast iron pan", + "Take the rounded oval bread and put it in the blackish-gray cast iron skillet", + "Grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and place it into the cooking skillet with grippy handle.", + "Use the left arm to grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Move the oval bread to the dark gray round cast iron pan using the left arm.", + "Pick up the rounded oval bread and drop it into the blackish-gray cast iron skillet", + "Use the left arm to move the oval-shaped soft bread to the dark gray round cast iron pan.", + "Grab the oval-shaped soft bread and drop it into the cooking skillet with grippy handle.", + "Grab the oval-shaped soft bread and place it in the blackish-gray cast iron skillet", + "Pick the rounded oval bread up and place it in the dark gray round cast iron pan" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode32.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode32.json new file mode 100644 index 0000000000000000000000000000000000000000..760a03ebcc593832d4320cf0ee914b2cea93339a --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode32.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Lift the doughy and soft bread and drop it into the round cooking pan.", + "Use the left arm to grab the light golden brown bread for the smooth round pan made of iron", + "Pick the hand-sized bread block off the table and place it in the smooth round pan made of iron.", + "Pick the hand-sized bread block up using the left arm and drop it in the round pan with hole in handle.", + "Grab the golden bread loaf and drop it into the smooth round pan made of iron", + "Move the bread loaf with bumpy surface into the dark pan with sturdy grip from the table", + "Use the left arm to stick the bread block with light patches into the heavy black cooking skillet.", + "Grab the soft bread and place it inside the round pan with hole in handle.", + "Use the left arm to pick the square-shaped bread and place it into the flat-bottomed skillet with long handle.", + "Place the hand-sized bread block from the table into the skillet with extended grip handle", + "Grab the bread with rough texture using the left arm and place it in the smooth round pan made of iron", + "Pick up the bread with rough texture and place it in the black pan with curved edges.", + "Pick the golden bread and set it into the solid dark-colored round pan.", + "Lift the soft bread and drop it into the versatile skillet for stovetop cooking", + "Grab the light golden brown bread from the table and set it in the heavy black cooking skillet.", + "Set the bread block with light patches into the smooth round pan made of iron after grabbing", + "Pick up the light golden brown bread and put it in the black pan with curved edges", + "Use the left arm to take the bread block with light patches and move it into the flat-bottomed skillet with long handle.", + "Take the hand-sized bread block and place it inside the medium black pan with handle", + "Take the square-shaped bread and put it in the flat-bottomed skillet with long handle.", + "Use the left arm to pick the bread loaf with bumpy surface and put it in the black pan with curved edges", + "Take the doughy and soft bread with the left arm and drop into the skillet with extended grip handle", + "Grab the bread block with light patches and stick it in the medium black pan with handle.", + "Use the left arm to pick the bread with rough texture for the smooth round pan made of iron", + "Move the hand-sized bread block to the flat-bottomed skillet with long handle using the left arm", + "Take the light golden brown bread and set it into the smooth round pan made of iron", + "Take the bread block with light patches and put it in the versatile skillet for stovetop cooking.", + "Take the cuboid bread and place it inside the heavy black cooking skillet", + "Pick the hand-sized bread block and transfer it to the skillet with extended grip handle", + "Put the bread loaf with uneven edges into the smooth round pan made of iron after grabbing it", + "Use the left arm to grab the cuboid bread and set it in the medium black pan with handle.", + "Move the cuboid bread from table into the flat-bottomed skillet with long handle", + "Place the light golden brown bread into the medium black pan with handle with the left arm.", + "Use the left arm to move the bread block with light patches into the black skillet with smooth base", + "Pick the bread with rough texture with the left arm and set it in the heavy black cooking skillet", + "Use the left arm to grab the bread block with light patches for the round pan with hole in handle", + "Put the light golden brown bread into the heavy black cooking skillet.", + "Use the left arm to pick the bread with rough texture up for the black skillet with smooth base", + "Transfer the square-shaped bread into the dark pan with sturdy grip from the table", + "Take the soft bread off the table into the heavy black cooking skillet", + "Place the golden bread into the round cooking pan using the left arm", + "Use the left arm to move the bread loaf with bumpy surface and set it into the flat-bottomed skillet with long handle.", + "Use the left arm to set the golden bread into the versatile skillet for stovetop cooking.", + "Lift the bread with rough texture using the left arm and move it to the dark pan with sturdy grip", + "Pick up the bread loaf with uneven edges with the left arm and drop it in the smooth round pan made of iron", + "Grab the square-shaped bread with the left arm and place in the solid dark-colored round pan", + "Take the light golden brown bread and drop it into the flat-bottomed skillet with long handle.", + "Use the left arm to lift the bread with rough texture and place it into the solid dark-colored round pan.", + "Grab the doughy and soft bread and place it inside the round cooking pan", + "Use the left arm to place the bread with rough texture into the round cooking pan", + "Lift the bread loaf with bumpy surface and drop it into the flat-bottomed skillet with long handle.", + "Use the left arm to grab the bread block with light patches for the black skillet with smooth base", + "Pick the soft bread off the table and place it in the flat-bottomed skillet with long handle.", + "Pick the doughy and soft bread up using the left arm and drop it in the heavy black cooking skillet.", + "Grab the bread block with light patches and drop it into the solid dark-colored round pan", + "Move the square-shaped bread into the solid dark-colored round pan from the table", + "Use the left arm to stick the doughy and soft bread into the black pan with curved edges.", + "Grab the golden bread and place it inside the versatile skillet for stovetop cooking.", + "Use the left arm to pick the hand-sized bread block and place it into the round pan with hole in handle.", + "Place the golden bread from the table into the flat-bottomed skillet with long handle", + "Grab the light golden brown bread using the left arm and place it in the black pan with curved edges", + "Pick up the hand-sized bread block and place it in the heavy black cooking skillet.", + "Pick the square-shaped bread and set it into the skillet with extended grip handle.", + "Lift the soft bread and drop it into the medium black pan with handle", + "Grab the soft bread from the table and set it in the skillet with extended grip handle.", + "Set the cuboid bread into the solid dark-colored round pan after grabbing", + "Pick up the cuboid bread and put it in the flat-bottomed skillet with long handle", + "Use the left arm to take the doughy and soft bread and move it into the medium black pan with handle.", + "Take the hand-sized bread block and place it inside the black pan with curved edges", + "Take the light golden brown bread and put it in the black pan with curved edges.", + "Use the left arm to pick the hand-sized bread block and put it in the flat-bottomed skillet with long handle", + "Take the cuboid bread with the left arm and drop into the round cooking pan", + "Grab the golden bread loaf and stick it in the flat-bottomed skillet with long handle.", + "Use the left arm to pick the square-shaped bread for the solid dark-colored round pan", + "Move the golden bread to the flat-bottomed skillet with long handle using the left arm", + "Take the golden bread and set it into the skillet with extended grip handle", + "Take the golden bread loaf and put it in the round pan with hole in handle.", + "Take the bread block with light patches and place it inside the solid dark-colored round pan", + "Pick the bread with rough texture and transfer it to the solid dark-colored round pan", + "Put the bread with rough texture into the round pan with hole in handle after grabbing it", + "Use the left arm to grab the golden bread loaf and set it in the smooth round pan made of iron.", + "Move the bread with rough texture from table into the heavy black cooking skillet", + "Place the bread with rough texture into the skillet with extended grip handle with the left arm.", + "Use the left arm to move the bread with rough texture into the round cooking pan", + "Pick the cuboid bread with the left arm and set it in the black skillet with smooth base", + "Use the left arm to grab the bread block with light patches for the versatile skillet for stovetop cooking", + "Put the bread with rough texture into the solid dark-colored round pan.", + "Use the left arm to pick the golden bread up for the round cooking pan", + "Transfer the golden bread into the flat-bottomed skillet with long handle from the table", + "Take the golden bread off the table into the skillet with extended grip handle", + "Place the doughy and soft bread into the skillet with extended grip handle using the left arm", + "Use the left arm to move the golden bread loaf and set it into the smooth round pan made of iron.", + "Use the left arm to set the hand-sized bread block into the round pan with hole in handle.", + "Lift the square-shaped bread using the left arm and move it to the medium black pan with handle", + "Pick up the bread loaf with uneven edges with the left arm and drop it in the round pan with hole in handle", + "Grab the square-shaped bread with the left arm and place in the skillet with extended grip handle", + "Take the doughy and soft bread and drop it into the black pan with curved edges.", + "Use the left arm to lift the cuboid bread and place it into the flat-bottomed skillet with long handle.", + "Grab the bread block with light patches and place it inside the round pan with hole in handle", + "Use the left arm to place the bread loaf with uneven edges into the round pan with hole in handle" + ], + "unseen": [ + "Move the bread with golden crust to the black skillet using the left arm.", + "Grab the rectangular bread loaf and place it in the black skillet", + "Grab the bread with golden crust and place it into the black skillet.", + "Grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Use the left arm to move the bread loaf with soft surface to the black skillet.", + "Take the bread with golden crust and put it in the black skillet", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Pick up the bread with golden crust and drop it into the round cast-iron skillet", + "Use the left arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Move the bread with golden crust to the round cast-iron skillet using the left arm.", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Use the left arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the round cast-iron skillet", + "Use the left arm to grab the rectangular bread loaf and set it in the black skillet", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Move the rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Use the left arm to move the rectangular bread loaf to the round cast-iron skillet.", + "Take the rectangular bread loaf and put it in the round cast-iron skillet", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Use the left arm to grab the bread with golden crust and set it in the black skillet", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Move the bread with golden crust to the iron skillet for frying foods using the left arm.", + "Grab the rectangular bread loaf and place it in the black skillet", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Use the left arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Take the bread with golden crust and put it in the round cast-iron skillet", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Use the left arm to grab the bread loaf with soft surface and set it in the black skillet", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Move the bread loaf with soft surface to the black skillet using the left arm.", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Grab the rectangular bread loaf and set it in the black skillet", + "Use the left arm to move the bread loaf with soft surface to the black skillet.", + "Take the bread with golden crust and put it in the black skillet", + "Pick the bread with golden crust up and place it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Use the left arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the rectangular bread loaf and drop it into the black skillet.", + "Move the bread loaf with soft surface to the round cast-iron skillet using the left arm.", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Use the left arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Pick the bread with golden crust up and place it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Use the left arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Move the bread with golden crust to the black skillet using the left arm.", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Grab the rectangular bread loaf and set it in the black skillet", + "Use the left arm to move the bread with golden crust to the round cast-iron skillet.", + "Take the bread loaf with soft surface and put it in the round cast-iron skillet", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the black skillet", + "Use the left arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Grab the bread with golden crust and drop it into the black skillet.", + "Move the bread loaf with soft surface to the black skillet using the left arm.", + "Grab the bread loaf with soft surface and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Use the left arm to move the bread with golden crust to the black skillet.", + "Take the bread loaf with soft surface and put it in the round cast-iron skillet", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Pick up the bread with golden crust and drop it into the round cast-iron skillet", + "Use the left arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Move the rectangular bread loaf to the round cast-iron skillet using the left arm.", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Grab the bread with golden crust and place it into the black skillet.", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Use the left arm to move the bread with golden crust to the round cast-iron skillet.", + "Take the bread loaf with soft surface and put it in the black skillet", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Pick up the bread with golden crust and drop it into the black skillet", + "Use the left arm to grab the bread loaf with soft surface and set it in the black skillet", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Move the rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Grab the bread with golden crust and set it in the black skillet", + "Use the left arm to move the bread loaf with soft surface to the black skillet.", + "Take the bread loaf with soft surface and put it in the round cast-iron skillet", + "Pick the bread with golden crust up and place it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Use the left arm to grab the bread with golden crust and set it in the black skillet", + "Grab the bread loaf with soft surface and drop it into the round cast-iron skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode33.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode33.json new file mode 100644 index 0000000000000000000000000000000000000000..0d46a6f9dae605d9b63b05e6837988750c4b7500 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode33.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the doughy and soft bread with the left arm and place in the black skillet with smooth base", + "Take the doughy and soft bread off the table into the medium black pan with handle", + "Take the square-shaped bread and put it in the skillet with extended grip handle.", + "Take the hand-sized bread block with the left arm and drop into the solid dark-colored round pan", + "Use the left arm to move the bread with rough texture into the black pan with curved edges", + "Use the left arm to grab the bread loaf with uneven edges for the versatile skillet for stovetop cooking", + "Pick the square-shaped bread and transfer it to the smooth round pan made of iron", + "Put the light golden brown bread into the round cooking pan after grabbing it", + "Use the left arm to pick the soft bread and put it in the round cooking pan", + "Move the light golden brown bread to the black skillet with smooth base using the left arm", + "Lift the golden bread loaf and drop it into the smooth round pan made of iron.", + "Use the left arm to pick the golden bread loaf and place it into the flat-bottomed skillet with long handle.", + "Take the bread block with light patches and drop it into the black skillet with smooth base.", + "Use the left arm to pick the doughy and soft bread up for the black pan with curved edges", + "Lift the bread loaf with uneven edges using the left arm and move it to the dark pan with sturdy grip", + "Place the bread with rough texture from the table into the dark pan with sturdy grip", + "Use the left arm to place the golden bread into the round cooking pan", + "Use the left arm to take the hand-sized bread block and move it into the skillet with extended grip handle.", + "Pick up the golden bread and place it in the round cooking pan.", + "Pick the square-shaped bread and set it into the round pan with hole in handle.", + "Grab the cuboid bread and place it inside the versatile skillet for stovetop cooking", + "Take the golden bread loaf and place it inside the round pan with hole in handle", + "Grab the bread block with light patches and drop it into the flat-bottomed skillet with long handle", + "Use the left arm to pick the soft bread for the medium black pan with handle", + "Grab the hand-sized bread block and stick it in the medium black pan with handle.", + "Take the bread with rough texture and set it into the flat-bottomed skillet with long handle", + "Move the square-shaped bread from table into the smooth round pan made of iron", + "Pick up the bread block with light patches and put it in the black pan with curved edges", + "Grab the bread with rough texture from the table and set it in the round cooking pan.", + "Set the doughy and soft bread into the skillet with extended grip handle after grabbing", + "Take the light golden brown bread and put it in the solid dark-colored round pan.", + "Use the left arm to move the soft bread and set it into the solid dark-colored round pan.", + "Use the left arm to set the bread loaf with bumpy surface into the round cooking pan.", + "Lift the cuboid bread and drop it into the dark pan with sturdy grip", + "Put the cuboid bread into the smooth round pan made of iron.", + "Place the hand-sized bread block into the black pan with curved edges using the left arm", + "Use the left arm to stick the bread loaf with uneven edges into the smooth round pan made of iron.", + "Place the soft bread into the heavy black cooking skillet with the left arm.", + "Transfer the light golden brown bread into the skillet with extended grip handle from the table", + "Use the left arm to grab the square-shaped bread for the black pan with curved edges", + "Take the bread loaf with bumpy surface and place it inside the smooth round pan made of iron", + "Pick the soft bread with the left arm and set it in the round cooking pan", + "Pick up the golden bread loaf with the left arm and drop it in the black pan with curved edges", + "Pick the bread block with light patches off the table and place it in the round cooking pan.", + "Grab the hand-sized bread block using the left arm and place it in the skillet with extended grip handle", + "Move the bread loaf with uneven edges into the black pan with curved edges from the table", + "Grab the golden bread and place it inside the round cooking pan.", + "Pick the bread loaf with bumpy surface up using the left arm and drop it in the black skillet with smooth base.", + "Use the left arm to lift the light golden brown bread and place it into the skillet with extended grip handle.", + "Use the left arm to grab the bread loaf with bumpy surface and set it in the medium black pan with handle.", + "Grab the bread block with light patches with the left arm and place in the skillet with extended grip handle", + "Take the bread loaf with bumpy surface off the table into the smooth round pan made of iron", + "Take the golden bread loaf and put it in the black pan with curved edges.", + "Take the bread block with light patches with the left arm and drop into the flat-bottomed skillet with long handle", + "Use the left arm to move the doughy and soft bread into the skillet with extended grip handle", + "Use the left arm to grab the bread with rough texture for the medium black pan with handle", + "Pick the square-shaped bread and transfer it to the versatile skillet for stovetop cooking", + "Put the bread loaf with bumpy surface into the round cooking pan after grabbing it", + "Use the left arm to pick the square-shaped bread and put it in the smooth round pan made of iron", + "Move the bread block with light patches to the dark pan with sturdy grip using the left arm", + "Lift the soft bread and drop it into the round cooking pan.", + "Use the left arm to pick the soft bread and place it into the black skillet with smooth base.", + "Take the soft bread and drop it into the medium black pan with handle.", + "Use the left arm to pick the cuboid bread up for the dark pan with sturdy grip", + "Lift the bread loaf with bumpy surface using the left arm and move it to the skillet with extended grip handle", + "Place the golden bread loaf from the table into the dark pan with sturdy grip", + "Use the left arm to place the soft bread into the round cooking pan", + "Use the left arm to take the cuboid bread and move it into the round cooking pan.", + "Pick up the cuboid bread and place it in the dark pan with sturdy grip.", + "Pick the soft bread and set it into the medium black pan with handle.", + "Grab the bread loaf with bumpy surface and place it inside the black skillet with smooth base", + "Take the doughy and soft bread and place it inside the black skillet with smooth base", + "Grab the golden bread and drop it into the skillet with extended grip handle", + "Use the left arm to pick the bread with rough texture for the round pan with hole in handle", + "Grab the bread with rough texture and stick it in the smooth round pan made of iron.", + "Take the soft bread and set it into the black pan with curved edges", + "Move the bread block with light patches from table into the versatile skillet for stovetop cooking", + "Pick up the golden bread and put it in the heavy black cooking skillet", + "Grab the hand-sized bread block from the table and set it in the skillet with extended grip handle.", + "Set the hand-sized bread block into the medium black pan with handle after grabbing", + "Take the doughy and soft bread and put it in the round cooking pan.", + "Use the left arm to move the bread block with light patches and set it into the flat-bottomed skillet with long handle.", + "Use the left arm to set the golden bread into the black skillet with smooth base.", + "Lift the bread block with light patches and drop it into the solid dark-colored round pan", + "Put the soft bread into the flat-bottomed skillet with long handle.", + "Place the bread with rough texture into the round cooking pan using the left arm", + "Use the left arm to stick the bread with rough texture into the round cooking pan.", + "Place the cuboid bread into the flat-bottomed skillet with long handle with the left arm.", + "Transfer the bread with rough texture into the flat-bottomed skillet with long handle from the table", + "Use the left arm to grab the bread block with light patches for the black pan with curved edges", + "Take the bread loaf with uneven edges and place it inside the black skillet with smooth base", + "Pick the doughy and soft bread with the left arm and set it in the dark pan with sturdy grip", + "Pick up the square-shaped bread with the left arm and drop it in the smooth round pan made of iron", + "Pick the bread loaf with uneven edges off the table and place it in the round pan with hole in handle.", + "Grab the bread loaf with bumpy surface using the left arm and place it in the round cooking pan", + "Move the bread block with light patches into the black pan with curved edges from the table", + "Grab the golden bread loaf and place it inside the smooth round pan made of iron.", + "Pick the golden bread loaf up using the left arm and drop it in the round cooking pan.", + "Use the left arm to lift the light golden brown bread and place it into the versatile skillet for stovetop cooking.", + "Use the left arm to grab the bread loaf with bumpy surface and set it in the flat-bottomed skillet with long handle." + ], + "unseen": [ + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Use the left arm to move the bread with golden crust to the iron skillet for frying foods.", + "Take the bread loaf with soft surface and put it in the black skillet", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Use the left arm to grab the bread loaf with soft surface and set it in the black skillet", + "Pick the bread loaf with soft surface up and place it in the black skillet", + "Grab the bread with golden crust and place it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Move the bread loaf with soft surface to the iron skillet for frying foods using the left arm.", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Use the left arm to move the bread loaf with soft surface to the iron skillet for frying foods.", + "Take the rectangular bread loaf and put it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Use the left arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Move the bread with golden crust to the iron skillet for frying foods using the left arm.", + "Grab the bread with golden crust and place it into the black skillet.", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Use the left arm to move the bread loaf with soft surface to the iron skillet for frying foods.", + "Take the bread with golden crust and put it in the black skillet", + "Grab the bread with golden crust and set it in the black skillet", + "Use the left arm to grab the bread with golden crust and set it in the black skillet", + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it in the round cast-iron skillet", + "Pick up the bread with golden crust and drop it into the round cast-iron skillet", + "Move the bread with golden crust to the black skillet using the left arm.", + "Grab the bread with golden crust and place it into the round cast-iron skillet.", + "Grab the rectangular bread loaf and drop it into the round cast-iron skillet.", + "Use the left arm to move the rectangular bread loaf to the black skillet.", + "Take the rectangular bread loaf and put it in the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the black skillet", + "Use the left arm to grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Pick up the bread loaf with soft surface and drop it into the round cast-iron skillet", + "Move the bread loaf with soft surface to the black skillet using the left arm.", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Grab the bread loaf with soft surface and drop it into the round cast-iron skillet.", + "Use the left arm to move the bread with golden crust to the iron skillet for frying foods.", + "Take the bread loaf with soft surface and put it in the black skillet", + "Grab the rectangular bread loaf and set it in the black skillet", + "Use the left arm to grab the bread with golden crust and set it in the black skillet", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Grab the bread with golden crust and place it in the black skillet", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Move the bread with golden crust to the iron skillet for frying foods using the left arm.", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Use the left arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Take the rectangular bread loaf and put it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Use the left arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Pick the bread with golden crust up and place it in the black skillet", + "Grab the bread with golden crust and place it in the black skillet", + "Pick up the bread with golden crust and drop it into the black skillet", + "Move the rectangular bread loaf to the round cast-iron skillet using the left arm.", + "Grab the rectangular bread loaf and place it into the iron skillet for frying foods.", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Use the left arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Take the bread with golden crust and put it in the black skillet", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Use the left arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it in the black skillet", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Move the rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Use the left arm to move the bread with golden crust to the black skillet.", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Use the left arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Move the bread with golden crust to the black skillet using the left arm.", + "Grab the bread with golden crust and place it into the black skillet.", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Use the left arm to move the bread with golden crust to the black skillet.", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Use the left arm to grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it in the iron skillet for frying foods", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Move the bread loaf with soft surface to the round cast-iron skillet using the left arm.", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Grab the bread with golden crust and drop it into the black skillet.", + "Use the left arm to move the rectangular bread loaf to the round cast-iron skillet.", + "Take the rectangular bread loaf and put it in the black skillet", + "Grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Use the left arm to grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it in the iron skillet for frying foods", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Move the bread loaf with soft surface to the round cast-iron skillet using the left arm.", + "Grab the bread with golden crust and place it into the iron skillet for frying foods." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode34.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode34.json new file mode 100644 index 0000000000000000000000000000000000000000..abd8d15cd36f3ef9279bf8cb81082fdfbbaf1c75 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode34.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to lift the hand-sized oval loaf and place it into the metal skillet with comfortable grip.", + "Use the right arm to place the soft brown bread into the medium-sized frying skillet", + "Pick the smooth loaf with rounded edges with the right arm and set it in the medium-sized frying skillet", + "Lift the light brown bread with ridges using the right arm and move it to the black-surfaced skillet with gray sides", + "Pick up the bread with warm golden color and put it in the gray skillet for stovetop cooking", + "Move the small golden brown bread to the metal skillet using the right arm", + "Grab the bread with split top from the table and set it in the smooth non-stick skillet.", + "Pick the smooth loaf with rounded edges and transfer it to the medium-sized frying skillet", + "Transfer the bread with golden-brown crust into the black-surfaced skillet with gray sides from the table", + "Use the right arm to pick the light brown bread with ridges up for the skillet for frying food", + "Take the golden bread loaf with the right arm and drop into the dark gray skillet", + "Grab the hand-sized oval loaf and place it inside the skillet for frying food", + "Grab the soft brown bread and drop it into the black-surfaced skillet with gray sides", + "Put the light brown loaf with smooth sides into the round skillet with open handle end after grabbing it", + "Pick up the golden bread loaf with the right arm and drop it in the round skillet with handle", + "Pick the hand-sized oval loaf and set it into the gray skillet for stovetop cooking.", + "Place the bread with warm golden color from the table into the metal skillet", + "Use the right arm to grab the bread with golden-brown crust for the round skillet with handle", + "Grab the small golden brown bread and stick it in the flat-bottom skillet.", + "Grab the hand-sized oval loaf and place it inside the smooth non-stick skillet.", + "Use the right arm to set the light brown loaf with smooth sides into the round skillet with open handle end.", + "Use the right arm to pick the light brown loaf with smooth sides and place it into the medium-sized frying skillet.", + "Use the right arm to take the smooth loaf with rounded edges and move it into the metal skillet.", + "Pick the bread with warm golden color off the table and place it in the dark gray skillet.", + "Lift the soft brown bread and drop it into the metal skillet with comfortable grip", + "Grab the soft brown bread with the right arm and place in the metal skillet with comfortable grip", + "Use the right arm to pick the brown loaf and put it in the black-surfaced skillet with gray sides", + "Place the soft brown bread into the medium-sized frying skillet with the right arm.", + "Use the right arm to move the bread with warm golden color and set it into the round skillet with open handle end.", + "Pick up the hand-sized oval loaf and place it in the black-surfaced skillet with gray sides.", + "Take the bread with split top off the table into the flat-bottom skillet", + "Lift the golden bread loaf and drop it into the round skillet with handle.", + "Use the right arm to move the bread with golden-brown crust into the smooth non-stick skillet", + "Take the brown loaf and place it inside the smooth non-stick skillet", + "Take the bread with split top and drop it into the black-surfaced skillet with gray sides.", + "Move the bread with golden-brown crust from table into the metal skillet with comfortable grip", + "Move the smooth loaf with rounded edges into the metal skillet with comfortable grip from the table", + "Use the right arm to pick the bread with golden-brown crust for the round skillet with handle", + "Place the bread with split top into the metal skillet with comfortable grip using the right arm", + "Take the bread with golden-brown crust and put it in the gray skillet for stovetop cooking.", + "Set the bread with golden-brown crust into the round skillet with open handle end after grabbing", + "Grab the bread with split top using the right arm and place it in the dark gray skillet", + "Pick the bread with split top up using the right arm and drop it in the dark gray skillet.", + "Take the light brown loaf with smooth sides and put it in the skillet with black cooking surface.", + "Use the right arm to stick the hand-sized oval loaf into the smooth non-stick skillet.", + "Use the right arm to grab the bread with split top and set it in the skillet with black cooking surface.", + "Take the small golden brown bread and set it into the flat-bottom skillet", + "Put the bread with warm golden color into the metal skillet with comfortable grip.", + "Use the right arm to grab the soft brown bread for the flat-bottom skillet", + "Take the brown loaf and place it inside the medium-sized frying skillet", + "Use the right arm to lift the light brown loaf with smooth sides and place it into the smooth non-stick skillet.", + "Use the right arm to place the smooth loaf with rounded edges into the flat-bottom skillet", + "Pick the bread with warm golden color with the right arm and set it in the round skillet with handle", + "Lift the light brown loaf with smooth sides using the right arm and move it to the round skillet with open handle end", + "Pick up the bread with golden-brown crust and put it in the gray skillet for stovetop cooking", + "Move the light brown loaf with smooth sides to the flat-bottom skillet using the right arm", + "Grab the golden bread loaf from the table and set it in the round skillet with handle.", + "Pick the soft brown bread and transfer it to the metal skillet with comfortable grip", + "Transfer the bread with split top into the metal skillet from the table", + "Use the right arm to pick the bread with split top up for the smooth non-stick skillet", + "Take the light brown bread with ridges with the right arm and drop into the metal skillet", + "Grab the bread with golden-brown crust and place it inside the black-surfaced skillet with gray sides", + "Grab the light brown loaf with smooth sides and drop it into the round skillet with handle", + "Put the small loaf with curved top into the metal skillet with comfortable grip after grabbing it", + "Pick up the light brown bread with ridges with the right arm and drop it in the round skillet with handle", + "Pick the golden bread loaf and set it into the gray skillet for stovetop cooking.", + "Place the light brown loaf with smooth sides from the table into the dark gray skillet", + "Use the right arm to grab the bread with warm golden color for the gray skillet for stovetop cooking", + "Grab the light brown bread with ridges and stick it in the round skillet with open handle end.", + "Grab the light brown bread with ridges and place it inside the smooth non-stick skillet.", + "Use the right arm to set the small golden brown bread into the dark gray skillet.", + "Use the right arm to pick the light brown bread with ridges and place it into the dark gray skillet.", + "Use the right arm to take the golden bread loaf and move it into the gray skillet for stovetop cooking.", + "Pick the bread with split top off the table and place it in the metal skillet.", + "Lift the light brown loaf with smooth sides and drop it into the metal skillet with comfortable grip", + "Grab the golden bread loaf with the right arm and place in the round skillet with handle", + "Use the right arm to pick the light brown bread with ridges and put it in the flat-bottom skillet", + "Place the light brown loaf with smooth sides into the gray skillet for stovetop cooking with the right arm.", + "Use the right arm to move the bread with split top and set it into the metal skillet with comfortable grip.", + "Pick up the bread with golden-brown crust and place it in the metal skillet.", + "Take the light brown loaf with smooth sides off the table into the flat-bottom skillet", + "Lift the soft brown bread and drop it into the metal skillet.", + "Use the right arm to move the light brown bread with ridges into the metal skillet", + "Take the small golden brown bread and place it inside the medium-sized frying skillet", + "Take the bread with split top and drop it into the gray skillet for stovetop cooking.", + "Move the hand-sized oval loaf from table into the metal skillet", + "Move the brown loaf into the skillet with black cooking surface from the table", + "Use the right arm to pick the brown loaf for the dark gray skillet", + "Place the brown loaf into the smooth non-stick skillet using the right arm", + "Take the light brown loaf with smooth sides and put it in the flat-bottom skillet.", + "Set the small loaf with curved top into the dark gray skillet after grabbing", + "Grab the light brown loaf with smooth sides using the right arm and place it in the gray skillet for stovetop cooking", + "Pick the hand-sized oval loaf up using the right arm and drop it in the metal skillet.", + "Take the hand-sized oval loaf and put it in the gray skillet for stovetop cooking.", + "Use the right arm to stick the small golden brown bread into the metal skillet with comfortable grip.", + "Use the right arm to grab the light brown bread with ridges and set it in the round skillet with handle.", + "Take the bread with golden-brown crust and set it into the skillet for frying food", + "Put the golden bread loaf into the round skillet with handle.", + "Use the right arm to grab the small loaf with curved top for the medium-sized frying skillet", + "Take the bread with golden-brown crust and place it inside the smooth non-stick skillet" + ], + "unseen": [ + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Move the rounded oval bread to the dark skillet with shiny finish using the right arm.", + "Take the oval bread and put it in the dark skillet with shiny finish", + "Use the right arm to grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and place it in the dark skillet with shiny finish", + "Move the rounded oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the oval bread and set it in the dark skillet with shiny finish", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Grab the oval-shaped soft bread and place it in the dark skillet with shiny finish", + "Move the oval bread to the versatile skillet for frying and sauteing using the right arm.", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rounded oval bread and set it in the pan-shaped skillet with hole in handle", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the right arm.", + "Take the oval-shaped soft bread and put it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the oval bread and set it in the dark skillet with shiny finish", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Use the right arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Move the oval bread to the dark skillet with shiny finish using the right arm.", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Pick the oval bread up and place it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and place it into the dark skillet with shiny finish.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to move the rounded oval bread to the versatile skillet for frying and sauteing.", + "Grab the rounded oval bread and place it in the dark skillet with shiny finish", + "Move the oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Use the right arm to grab the oval bread and set it in the dark skillet with shiny finish", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Pick the rounded oval bread up and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and place it into the pan-shaped skillet with hole in handle.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Use the right arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and place it in the dark skillet with shiny finish", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the right arm.", + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode35.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode35.json new file mode 100644 index 0000000000000000000000000000000000000000..8f784ef8e968b2febdc25b123740ab1ab7d1bd09 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode35.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the bread block with light patches and place it inside the smooth round cooking skillet", + "Pick up the bread block with light patches and place it in the dark gray skillet.", + "Use the left arm to pick the cuboid bread for the hefty black skillet", + "Pick the golden bread loaf up using the left arm and drop it in the skillet for cooking.", + "Take the hand-sized bread block and put it in the pan with dark finish.", + "Take the bread block with light patches with the left arm and drop into the gray cooking pan with handle", + "Pick up the bread block with light patches and put it in the gray cooking pan with handle", + "Place the golden bread into the gray cooking pan with handle using the left arm", + "Use the left arm to pick the bread loaf with bumpy surface up for the round skillet with handle", + "Use the left arm to set the bread block with light patches into the pan with dark finish.", + "Set the square-shaped bread into the smooth cast iron skillet after grabbing", + "Pick the golden bread and set it into the hefty black skillet.", + "Take the light golden brown bread and place it inside the smooth round cooking skillet", + "Use the left arm to grab the hand-sized bread block for the gray pan", + "Put the soft bread into the round skillet with handle after grabbing it", + "Use the left arm to stick the light golden brown bread into the round skillet with handle.", + "Grab the light golden brown bread using the left arm and place it in the smooth cast iron skillet", + "Move the cuboid bread to the smooth cast iron skillet using the left arm", + "Use the left arm to move the doughy and soft bread into the medium round cast iron skillet", + "Use the left arm to take the light golden brown bread and move it into the pan with dark finish.", + "Use the left arm to move the golden bread loaf and set it into the smooth round cooking skillet.", + "Grab the soft bread and place it inside the medium round cast iron skillet.", + "Pick the hand-sized bread block and transfer it to the skillet for cooking", + "Use the left arm to grab the golden bread for the hefty black skillet", + "Use the left arm to pick the soft bread and put it in the dark gray skillet", + "Grab the bread loaf with bumpy surface and drop it into the gray cooking pan with handle", + "Take the square-shaped bread off the table into the hefty black skillet", + "Take the bread loaf with uneven edges and put it in the hefty black skillet.", + "Place the bread with rough texture from the table into the dark gray skillet", + "Lift the square-shaped bread and drop it into the pan with dark finish", + "Use the left arm to place the square-shaped bread into the rounded skillet with a holey handle", + "Pick the hand-sized bread block off the table and place it in the hefty black skillet.", + "Use the left arm to lift the cuboid bread and place it into the round skillet with handle.", + "Use the left arm to pick the bread loaf with uneven edges and place it into the medium skillet.", + "Take the golden bread loaf and set it into the smooth round cooking skillet", + "Take the doughy and soft bread and drop it into the dark gray skillet.", + "Grab the bread loaf with bumpy surface with the left arm and place in the medium skillet", + "Lift the hand-sized bread block using the left arm and move it to the medium round cast iron skillet", + "Use the left arm to grab the bread block with light patches and set it in the smooth round cooking skillet.", + "Grab the doughy and soft bread and stick it in the hefty black skillet.", + "Place the bread block with light patches into the medium skillet with the left arm.", + "Grab the golden bread from the table and set it in the medium round cast iron skillet.", + "Pick up the bread loaf with bumpy surface with the left arm and drop it in the hefty black skillet", + "Move the bread with rough texture into the smooth round cooking skillet from the table", + "Transfer the bread with rough texture into the hefty black skillet from the table", + "Pick the golden bread with the left arm and set it in the gray pan", + "Put the soft bread into the pan with dark finish.", + "Take the bread with rough texture and place it inside the gray pan", + "Lift the golden bread loaf and drop it into the gray pan.", + "Move the bread block with light patches from table into the medium skillet", + "Grab the light golden brown bread and place it inside the gray cooking pan with handle", + "Pick up the soft bread and place it in the smooth cast iron skillet.", + "Use the left arm to pick the bread with rough texture for the medium round cast iron skillet", + "Pick the bread loaf with bumpy surface up using the left arm and drop it in the gray cooking pan with handle.", + "Take the soft bread and put it in the gray pan.", + "Take the cuboid bread with the left arm and drop into the medium skillet", + "Pick up the doughy and soft bread and put it in the dark gray skillet", + "Place the cuboid bread into the medium round cast iron skillet using the left arm", + "Use the left arm to pick the light golden brown bread up for the rounded skillet with a holey handle", + "Use the left arm to set the bread loaf with uneven edges into the hefty black skillet.", + "Set the golden bread loaf into the hefty black skillet after grabbing", + "Pick the golden bread and set it into the skillet for cooking.", + "Take the hand-sized bread block and place it inside the dark gray skillet", + "Use the left arm to grab the doughy and soft bread for the skillet for cooking", + "Put the golden bread into the medium skillet after grabbing it", + "Use the left arm to stick the soft bread into the smooth cast iron skillet.", + "Grab the bread with rough texture using the left arm and place it in the pan with dark finish", + "Move the golden bread loaf to the medium round cast iron skillet using the left arm", + "Use the left arm to move the square-shaped bread into the hefty black skillet", + "Use the left arm to take the golden bread loaf and move it into the medium round cast iron skillet.", + "Use the left arm to move the cuboid bread and set it into the smooth round cooking skillet.", + "Grab the cuboid bread and place it inside the gray pan.", + "Pick the golden bread and transfer it to the medium round cast iron skillet", + "Use the left arm to grab the golden bread loaf for the pan with dark finish", + "Use the left arm to pick the bread with rough texture and put it in the skillet for cooking", + "Grab the bread with rough texture and drop it into the hefty black skillet", + "Take the golden bread loaf off the table into the rounded skillet with a holey handle", + "Take the golden bread loaf and put it in the hefty black skillet.", + "Place the cuboid bread from the table into the medium skillet", + "Lift the bread loaf with uneven edges and drop it into the round skillet with handle", + "Use the left arm to place the bread block with light patches into the smooth round cooking skillet", + "Pick the golden bread loaf off the table and place it in the medium skillet.", + "Use the left arm to lift the square-shaped bread and place it into the round skillet with handle.", + "Use the left arm to pick the bread with rough texture and place it into the gray pan.", + "Take the golden bread and set it into the smooth round cooking skillet", + "Take the soft bread and drop it into the smooth round cooking skillet.", + "Grab the golden bread with the left arm and place in the pan with dark finish", + "Lift the doughy and soft bread using the left arm and move it to the dark gray skillet", + "Use the left arm to grab the bread loaf with uneven edges and set it in the rounded skillet with a holey handle.", + "Grab the light golden brown bread and stick it in the skillet for cooking.", + "Place the doughy and soft bread into the rounded skillet with a holey handle with the left arm.", + "Grab the bread loaf with uneven edges from the table and set it in the round skillet with handle.", + "Pick up the golden bread loaf with the left arm and drop it in the skillet for cooking", + "Move the soft bread into the rounded skillet with a holey handle from the table", + "Transfer the bread with rough texture into the hefty black skillet from the table", + "Pick the light golden brown bread with the left arm and set it in the skillet for cooking", + "Put the cuboid bread into the smooth round cooking skillet.", + "Take the soft bread and place it inside the skillet for cooking", + "Lift the bread block with light patches and drop it into the pan with dark finish.", + "Move the bread block with light patches from table into the gray cooking pan with handle" + ], + "unseen": [ + "Grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Use the left arm to move the bread loaf with soft surface to the dark gray round cast iron pan.", + "Grab the bread with golden crust and drop it into the blackish-gray cast iron skillet.", + "Take the bread with golden crust and put it in the cooking skillet with grippy handle", + "Move the bread with golden crust to the dark gray round cast iron pan using the left arm.", + "Grab the rectangular bread loaf and place it into the dark gray round cast iron pan.", + "Pick the bread loaf with soft surface up and place it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and place it in the dark gray round cast iron pan", + "Use the left arm to grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Pick up the rectangular bread loaf and drop it into the cooking skillet with grippy handle", + "Grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Use the left arm to move the bread with golden crust to the dark gray round cast iron pan.", + "Grab the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet.", + "Take the rectangular bread loaf and put it in the blackish-gray cast iron skillet", + "Move the bread loaf with soft surface to the cooking skillet with grippy handle using the left arm.", + "Grab the rectangular bread loaf and place it into the blackish-gray cast iron skillet.", + "Pick the rectangular bread loaf up and place it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and place it in the dark gray round cast iron pan", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark gray round cast iron pan", + "Pick up the bread loaf with soft surface and drop it into the dark gray round cast iron pan", + "Grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Use the left arm to move the bread loaf with soft surface to the cooking skillet with grippy handle.", + "Grab the bread loaf with soft surface and drop it into the cooking skillet with grippy handle.", + "Take the bread loaf with soft surface and put it in the dark gray round cast iron pan", + "Move the bread with golden crust to the blackish-gray cast iron skillet using the left arm.", + "Grab the bread with golden crust and place it into the dark gray round cast iron pan.", + "Pick the bread loaf with soft surface up and place it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and place it in the cooking skillet with grippy handle", + "Use the left arm to grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Pick up the bread loaf with soft surface and drop it into the cooking skillet with grippy handle", + "Grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Use the left arm to move the bread with golden crust to the cooking skillet with grippy handle.", + "Grab the rectangular bread loaf and drop it into the cooking skillet with grippy handle.", + "Take the bread with golden crust and put it in the dark gray round cast iron pan", + "Move the bread loaf with soft surface to the blackish-gray cast iron skillet using the left arm.", + "Grab the bread loaf with soft surface and place it into the cooking skillet with grippy handle.", + "Pick the bread loaf with soft surface up and place it in the cooking skillet with grippy handle", + "Grab the bread with golden crust and place it in the blackish-gray cast iron skillet", + "Use the left arm to grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Pick up the bread with golden crust and drop it into the dark gray round cast iron pan", + "Grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Use the left arm to move the bread loaf with soft surface to the dark gray round cast iron pan.", + "Grab the bread with golden crust and drop it into the dark gray round cast iron pan.", + "Take the rectangular bread loaf and put it in the blackish-gray cast iron skillet", + "Move the bread with golden crust to the cooking skillet with grippy handle using the left arm.", + "Grab the bread loaf with soft surface and place it into the dark gray round cast iron pan.", + "Pick the rectangular bread loaf up and place it in the cooking skillet with grippy handle", + "Grab the bread with golden crust and place it in the dark gray round cast iron pan", + "Use the left arm to grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Pick up the rectangular bread loaf and drop it into the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Use the left arm to move the rectangular bread loaf to the dark gray round cast iron pan.", + "Grab the bread with golden crust and drop it into the dark gray round cast iron pan.", + "Take the bread with golden crust and put it in the dark gray round cast iron pan", + "Move the bread with golden crust to the cooking skillet with grippy handle using the left arm.", + "Grab the bread loaf with soft surface and place it into the blackish-gray cast iron skillet.", + "Pick the bread with golden crust up and place it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and place it in the blackish-gray cast iron skillet", + "Use the left arm to grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Pick up the bread loaf with soft surface and drop it into the cooking skillet with grippy handle", + "Grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Use the left arm to move the bread loaf with soft surface to the blackish-gray cast iron skillet.", + "Grab the rectangular bread loaf and drop it into the dark gray round cast iron pan.", + "Take the bread with golden crust and put it in the cooking skillet with grippy handle", + "Move the bread with golden crust to the dark gray round cast iron pan using the left arm.", + "Grab the rectangular bread loaf and place it into the blackish-gray cast iron skillet.", + "Pick the rectangular bread loaf up and place it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and place it in the cooking skillet with grippy handle", + "Use the left arm to grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Pick up the bread loaf with soft surface and drop it into the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Use the left arm to move the bread loaf with soft surface to the blackish-gray cast iron skillet.", + "Grab the rectangular bread loaf and drop it into the dark gray round cast iron pan.", + "Take the rectangular bread loaf and put it in the cooking skillet with grippy handle", + "Move the bread with golden crust to the dark gray round cast iron pan using the left arm.", + "Grab the bread loaf with soft surface and place it into the cooking skillet with grippy handle.", + "Pick the bread with golden crust up and place it in the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and place it in the blackish-gray cast iron skillet", + "Use the left arm to grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Pick up the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Use the left arm to move the bread loaf with soft surface to the blackish-gray cast iron skillet.", + "Grab the bread with golden crust and drop it into the cooking skillet with grippy handle.", + "Take the bread loaf with soft surface and put it in the cooking skillet with grippy handle", + "Move the rectangular bread loaf to the dark gray round cast iron pan using the left arm.", + "Grab the rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Pick the bread with golden crust up and place it in the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and place it in the blackish-gray cast iron skillet", + "Use the left arm to grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Pick up the bread with golden crust and drop it into the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Use the left arm to move the bread with golden crust to the blackish-gray cast iron skillet.", + "Grab the bread with golden crust and drop it into the dark gray round cast iron pan.", + "Take the bread loaf with soft surface and put it in the blackish-gray cast iron skillet", + "Move the bread with golden crust to the cooking skillet with grippy handle using the left arm.", + "Grab the bread loaf with soft surface and place it into the blackish-gray cast iron skillet.", + "Pick the bread loaf with soft surface up and place it in the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and place it in the blackish-gray cast iron skillet", + "Use the left arm to grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Pick up the rectangular bread loaf and drop it into the dark gray round cast iron pan" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode36.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode36.json new file mode 100644 index 0000000000000000000000000000000000000000..67163ce51dc77d29b8aa4f9eaa7fd5cdbc01cb1c --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode36.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the golden baked bread and place it inside the metal skillet with comfortable grip", + "Pick the medium-sized bread piece and set it into the round skillet with open handle end.", + "Lift the medium-sized bread piece and drop it into the skillet with black cooking surface.", + "Pick the medium bread with rounded sides and transfer it to the metal skillet", + "Use the left arm to pick the golden brown bread up for the black-surfaced skillet with gray sides", + "Transfer the golden baked bread into the flat-bottom skillet from the table", + "Move the soft square bread from table into the metal skillet", + "Move the soft square bread into the gray skillet for stovetop cooking from the table", + "Take the bread with soft texture with the left arm and drop into the metal skillet", + "Use the left arm to move the medium bread with rounded sides and set it into the round skillet with handle.", + "Use the left arm to set the bread with soft texture into the round skillet with handle.", + "Put the soft square bread into the round skillet with open handle end.", + "Take the golden baked bread off the table into the skillet for frying food", + "Grab the bread with rounded edges with the left arm and place in the round skillet with handle", + "Grab the sponge-textured golden bread using the left arm and place it in the black-surfaced skillet with gray sides", + "Pick up the bread with rounded edges with the left arm and drop it in the round skillet with open handle end", + "Use the left arm to pick the medium bread with rounded sides for the round skillet with open handle end", + "Use the left arm to grab the light brown porous bread for the metal skillet with comfortable grip", + "Lift the golden baked bread using the left arm and move it to the smooth non-stick skillet", + "Pick up the medium bread with rounded sides and put it in the round skillet with open handle end", + "Put the rounded square loaf into the flat-bottom skillet after grabbing it", + "Take the medium-sized bread piece and put it in the metal skillet.", + "Use the left arm to pick the square-shaped bread piece and put it in the flat-bottom skillet", + "Use the left arm to pick the light brown porous bread and place it into the skillet for frying food.", + "Grab the rounded square loaf and place it inside the gray skillet for stovetop cooking", + "Pick the sponge-textured golden bread up using the left arm and drop it in the black-surfaced skillet with gray sides.", + "Take the bread with soft texture and set it into the metal skillet", + "Use the left arm to lift the golden baked bread and place it into the gray skillet for stovetop cooking.", + "Pick the fluffy baked bread with the left arm and set it in the smooth non-stick skillet", + "Use the left arm to place the light brown porous bread into the skillet with black cooking surface", + "Use the left arm to grab the light brown porous bread and set it in the metal skillet.", + "Use the left arm to move the sponge-textured golden bread into the round skillet with handle", + "Use the left arm to grab the bread with soft texture for the round skillet with handle", + "Use the left arm to take the bread with soft texture and move it into the black-surfaced skillet with gray sides.", + "Grab the medium bread with rounded sides and drop it into the round skillet with handle", + "Move the medium bread with rounded sides to the gray skillet for stovetop cooking using the left arm", + "Place the golden baked bread from the table into the metal skillet with comfortable grip", + "Pick up the bread with soft texture and place it in the gray skillet for stovetop cooking.", + "Take the medium-sized bread piece and put it in the skillet with black cooking surface.", + "Pick the medium-sized bread piece off the table and place it in the metal skillet with comfortable grip.", + "Take the rounded square loaf and place it inside the dark gray skillet", + "Use the left arm to stick the bread with rounded edges into the medium-sized frying skillet.", + "Place the bread with soft texture into the flat-bottom skillet using the left arm", + "Grab the soft square bread and stick it in the flat-bottom skillet.", + "Place the medium bread with rounded sides into the metal skillet with comfortable grip with the left arm.", + "Grab the light brown porous bread and place it inside the skillet for frying food.", + "Lift the bread with rounded edges and drop it into the skillet with black cooking surface", + "Take the rounded square loaf and drop it into the flat-bottom skillet.", + "Set the golden brown bread into the skillet for frying food after grabbing", + "Grab the fluffy baked bread from the table and set it in the metal skillet.", + "Take the golden brown bread and place it inside the dark gray skillet", + "Pick the medium-sized bread piece and set it into the round skillet with open handle end.", + "Lift the golden brown bread and drop it into the metal skillet.", + "Pick the medium bread with rounded sides and transfer it to the round skillet with open handle end", + "Use the left arm to pick the golden baked bread up for the medium-sized frying skillet", + "Transfer the medium-sized bread piece into the metal skillet with comfortable grip from the table", + "Move the soft square bread from table into the round skillet with open handle end", + "Move the rounded square loaf into the black-surfaced skillet with gray sides from the table", + "Take the medium bread with rounded sides with the left arm and drop into the smooth non-stick skillet", + "Use the left arm to move the fluffy baked bread and set it into the medium-sized frying skillet.", + "Use the left arm to set the rounded square loaf into the metal skillet with comfortable grip.", + "Put the bread with soft texture into the gray skillet for stovetop cooking.", + "Take the light brown porous bread off the table into the round skillet with handle", + "Grab the bread with soft texture with the left arm and place in the metal skillet with comfortable grip", + "Grab the soft square bread using the left arm and place it in the dark gray skillet", + "Pick up the golden baked bread with the left arm and drop it in the medium-sized frying skillet", + "Use the left arm to pick the golden baked bread for the smooth non-stick skillet", + "Use the left arm to grab the fluffy baked bread for the metal skillet", + "Lift the bread with soft texture using the left arm and move it to the black-surfaced skillet with gray sides", + "Pick up the light brown porous bread and put it in the dark gray skillet", + "Put the golden brown bread into the metal skillet after grabbing it", + "Take the square-shaped bread piece and put it in the black-surfaced skillet with gray sides.", + "Use the left arm to pick the medium-sized bread piece and put it in the skillet with black cooking surface", + "Use the left arm to pick the golden brown bread and place it into the medium-sized frying skillet.", + "Grab the golden baked bread and place it inside the dark gray skillet", + "Pick the medium-sized bread piece up using the left arm and drop it in the flat-bottom skillet.", + "Take the medium-sized bread piece and set it into the round skillet with handle", + "Use the left arm to lift the square-shaped bread piece and place it into the dark gray skillet.", + "Pick the square-shaped bread piece with the left arm and set it in the smooth non-stick skillet", + "Use the left arm to place the soft square bread into the metal skillet with comfortable grip", + "Use the left arm to grab the bread with soft texture and set it in the flat-bottom skillet.", + "Use the left arm to move the medium bread with rounded sides into the round skillet with handle", + "Use the left arm to grab the fluffy baked bread for the skillet for frying food", + "Use the left arm to take the rounded square loaf and move it into the gray skillet for stovetop cooking.", + "Grab the golden brown bread and drop it into the metal skillet with comfortable grip", + "Move the square-shaped bread piece to the metal skillet with comfortable grip using the left arm", + "Place the golden brown bread from the table into the round skillet with open handle end", + "Pick up the rounded square loaf and place it in the skillet with black cooking surface.", + "Take the fluffy baked bread and put it in the round skillet with open handle end.", + "Pick the medium bread with rounded sides off the table and place it in the metal skillet with comfortable grip.", + "Take the light brown porous bread and place it inside the round skillet with handle", + "Use the left arm to stick the fluffy baked bread into the smooth non-stick skillet.", + "Place the golden baked bread into the gray skillet for stovetop cooking using the left arm", + "Grab the medium bread with rounded sides and stick it in the round skillet with handle.", + "Place the medium-sized bread piece into the gray skillet for stovetop cooking with the left arm.", + "Grab the light brown porous bread and place it inside the round skillet with open handle end.", + "Lift the bread with soft texture and drop it into the metal skillet", + "Take the sponge-textured golden bread and drop it into the flat-bottom skillet.", + "Set the medium-sized bread piece into the medium-sized frying skillet after grabbing", + "Grab the bread with rounded edges from the table and set it in the smooth non-stick skillet." + ], + "unseen": [ + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and place it into the dark skillet with shiny finish.", + "Use the left arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it in the versatile skillet for frying and sauteing", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Move the soft bread with golden edges to the dark skillet with shiny finish using the left arm.", + "Pick up the square bread with light spots and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to move the spongy golden brown bread to the versatile skillet for frying and sauteing.", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Take the soft bread with golden edges and put it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the left arm.", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Pick the square bread with light spots up and place it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it in the versatile skillet for frying and sauteing", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the left arm.", + "Pick up the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the left arm.", + "Pick up the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to move the spongy golden brown bread to the versatile skillet for frying and sauteing.", + "Pick the square bread with light spots up and place it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Use the left arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the left arm.", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Pick the square bread with light spots up and place it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it in the pan-shaped skillet with hole in handle", + "Take the soft bread with golden edges and put it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Move the square bread with light spots to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to move the spongy golden brown bread to the versatile skillet for frying and sauteing.", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Use the left arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the left arm.", + "Pick up the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Use the left arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Move the square bread with light spots to the versatile skillet for frying and sauteing using the left arm.", + "Pick up the square bread with light spots and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Take the spongy golden brown bread and put it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the left arm.", + "Pick up the square bread with light spots and drop it into the versatile skillet for frying and sauteing", + "Use the left arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the spongy golden brown bread and place it into the pan-shaped skillet with hole in handle.", + "Use the left arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the left arm.", + "Pick up the square bread with light spots and drop it into the pan-shaped skillet with hole in handle", + "Use the left arm to move the square bread with light spots to the pan-shaped skillet with hole in handle." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode37.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode37.json new file mode 100644 index 0000000000000000000000000000000000000000..63446bbedd8e8e9b6749d53f173a742417557f5c --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode37.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the smooth loaf with rounded edges and put it in the black skillet with long handle.", + "Grab the brown loaf and stick it in the black skillet with long handle.", + "Use the right arm to pick the light brown bread with ridges up for the black cooking tool skillet", + "Take the bread with split top and place it inside the black iron skillet for cooking", + "Place the bread with split top into the black cooking tool skillet using the right arm", + "Use the right arm to set the bread with split top into the black skillet.", + "Take the bread with split top and set it into the black cooking tool skillet", + "Use the right arm to stick the small loaf with curved top into the flat-bottomed black cast iron skillet.", + "Use the right arm to grab the smooth loaf with rounded edges for the black cooking tool skillet", + "Use the right arm to pick the golden bread loaf and place it into the black skillet for frying foods.", + "Put the brown loaf into the pan-shaped black skillet after grabbing it", + "Pick up the bread with warm golden color and place it in the black skillet for frying foods.", + "Move the hand-sized oval loaf to the black skillet with long handle using the right arm", + "Use the right arm to grab the light brown bread with ridges for the black cooking tool skillet", + "Pick up the small golden brown bread with the right arm and drop it in the black iron skillet for cooking", + "Pick up the soft brown bread and put it in the skillet with looped handle", + "Place the light brown loaf with smooth sides from the table into the skillet with looped handle", + "Pick the bread with split top and set it into the black cooking tool skillet.", + "Transfer the bread with warm golden color into the pan-shaped black skillet from the table", + "Take the small golden brown bread off the table into the black iron skillet for cooking", + "Set the small golden brown bread into the black skillet after grabbing", + "Grab the bread with warm golden color and drop it into the medium skillet with rough outside", + "Place the small loaf with curved top into the black skillet with long handle with the right arm.", + "Pick the smooth loaf with rounded edges and transfer it to the skillet with wide round base", + "Take the bread with split top with the right arm and drop into the black iron skillet for cooking", + "Use the right arm to lift the light brown bread with ridges and place it into the black skillet for frying foods.", + "Use the right arm to grab the bread with warm golden color and set it in the black skillet.", + "Take the golden bread loaf and put it in the heavy cast iron skillet.", + "Use the right arm to pick the hand-sized oval loaf and put it in the black cooking tool skillet", + "Grab the small golden brown bread with the right arm and place in the skillet with wide round base", + "Lift the smooth loaf with rounded edges using the right arm and move it to the black skillet with long handle", + "Lift the bread with golden-brown crust and drop it into the black iron skillet for cooking.", + "Take the light brown loaf with smooth sides and drop it into the flat-bottomed black cast iron skillet.", + "Grab the bread with warm golden color from the table and set it in the flat-bottomed black cast iron skillet.", + "Grab the small loaf with curved top and place it inside the skillet with sturdy material.", + "Move the golden bread loaf into the pan-shaped black skillet from the table", + "Lift the bread with golden-brown crust and drop it into the black cooking tool skillet", + "Use the right arm to place the smooth loaf with rounded edges into the black cooking tool skillet", + "Grab the bread with golden-brown crust using the right arm and place it in the black skillet for frying foods", + "Use the right arm to move the small loaf with curved top into the pan-shaped black skillet", + "Take the bread with golden-brown crust and place it inside the pan-shaped black skillet", + "Pick the bread with warm golden color with the right arm and set it in the black skillet for frying foods", + "Use the right arm to pick the hand-sized oval loaf for the black skillet", + "Pick the light brown loaf with smooth sides up using the right arm and drop it in the black skillet.", + "Use the right arm to move the hand-sized oval loaf and set it into the medium skillet with rough outside.", + "Use the right arm to take the golden bread loaf and move it into the skillet with sturdy material.", + "Put the hand-sized oval loaf into the medium skillet with rough outside.", + "Move the small loaf with curved top from table into the pan-shaped black skillet", + "Pick the light brown bread with ridges off the table and place it in the black iron skillet for cooking.", + "Grab the bread with warm golden color and place it inside the black skillet with long handle", + "Take the smooth loaf with rounded edges and put it in the black skillet.", + "Grab the smooth loaf with rounded edges and stick it in the black skillet for frying foods.", + "Use the right arm to pick the smooth loaf with rounded edges up for the black skillet with long handle", + "Take the small loaf with curved top and place it inside the heavy cast iron skillet", + "Place the bread with golden-brown crust into the pan-shaped black skillet using the right arm", + "Use the right arm to set the light brown loaf with smooth sides into the black skillet with long handle.", + "Take the bread with golden-brown crust and set it into the black cooking tool skillet", + "Use the right arm to stick the golden bread loaf into the skillet with sturdy material.", + "Use the right arm to grab the bread with golden-brown crust for the skillet with wide round base", + "Use the right arm to pick the golden bread loaf and place it into the heavy cast iron skillet.", + "Put the small loaf with curved top into the black cooking tool skillet after grabbing it", + "Pick up the bread with split top and place it in the black cooking tool skillet.", + "Move the hand-sized oval loaf to the heavy cast iron skillet using the right arm", + "Use the right arm to grab the light brown loaf with smooth sides for the black iron skillet for cooking", + "Pick up the golden bread loaf with the right arm and drop it in the medium skillet with rough outside", + "Pick up the bread with warm golden color and put it in the skillet with looped handle", + "Place the smooth loaf with rounded edges from the table into the pan-shaped black skillet", + "Pick the small loaf with curved top and set it into the medium skillet with rough outside.", + "Transfer the brown loaf into the flat-bottomed black cast iron skillet from the table", + "Take the small golden brown bread off the table into the skillet with looped handle", + "Set the bread with warm golden color into the black iron skillet for cooking after grabbing", + "Grab the light brown bread with ridges and drop it into the black cooking tool skillet", + "Place the hand-sized oval loaf into the black skillet with the right arm.", + "Pick the smooth loaf with rounded edges and transfer it to the skillet with looped handle", + "Take the bread with warm golden color with the right arm and drop into the black skillet for frying foods", + "Use the right arm to lift the smooth loaf with rounded edges and place it into the black cooking tool skillet.", + "Use the right arm to grab the brown loaf and set it in the heavy cast iron skillet.", + "Take the small loaf with curved top and put it in the black cooking tool skillet.", + "Use the right arm to pick the light brown bread with ridges and put it in the pan-shaped black skillet", + "Grab the bread with golden-brown crust with the right arm and place in the black skillet with long handle", + "Lift the soft brown bread using the right arm and move it to the skillet with sturdy material", + "Lift the small loaf with curved top and drop it into the heavy cast iron skillet.", + "Take the small golden brown bread and drop it into the flat-bottomed black cast iron skillet.", + "Grab the smooth loaf with rounded edges from the table and set it in the black iron skillet for cooking.", + "Grab the brown loaf and place it inside the heavy cast iron skillet.", + "Move the bread with split top into the medium skillet with rough outside from the table", + "Lift the smooth loaf with rounded edges and drop it into the skillet with wide round base", + "Use the right arm to place the small golden brown bread into the black skillet", + "Grab the soft brown bread using the right arm and place it in the black skillet for frying foods", + "Use the right arm to move the hand-sized oval loaf into the flat-bottomed black cast iron skillet", + "Take the brown loaf and place it inside the pan-shaped black skillet", + "Pick the hand-sized oval loaf with the right arm and set it in the black skillet with long handle", + "Use the right arm to pick the brown loaf for the heavy cast iron skillet", + "Pick the light brown bread with ridges up using the right arm and drop it in the black skillet for frying foods.", + "Use the right arm to move the bread with golden-brown crust and set it into the flat-bottomed black cast iron skillet.", + "Use the right arm to take the bread with split top and move it into the heavy cast iron skillet.", + "Put the light brown loaf with smooth sides into the skillet with wide round base.", + "Move the bread with split top from table into the black iron skillet for cooking", + "Pick the bread with golden-brown crust off the table and place it in the black skillet.", + "Grab the brown loaf and place it inside the heavy cast iron skillet" + ], + "unseen": [ + "Pick up the oval bread and drop it into the round black skillet", + "Grab the rounded oval bread and place it in the round black skillet", + "Take the oval-shaped soft bread and put it in the smooth interior skillet", + "Grab the rounded oval bread and set it in the round black skillet", + "Grab the oval-shaped soft bread and place it into the medium black frying skillet.", + "Grab the oval-shaped soft bread and drop it into the smooth interior skillet.", + "Move the oval bread to the medium black frying skillet using the right arm.", + "Pick the oval-shaped soft bread up and place it in the medium black frying skillet", + "Use the right arm to move the rounded oval bread to the smooth interior skillet.", + "Use the right arm to grab the rounded oval bread and set it in the round black skillet", + "Pick up the rounded oval bread and drop it into the round black skillet", + "Grab the oval-shaped soft bread and place it in the medium black frying skillet", + "Take the oval bread and put it in the medium black frying skillet", + "Grab the oval bread and set it in the round black skillet", + "Grab the oval-shaped soft bread and place it into the medium black frying skillet.", + "Grab the oval bread and drop it into the medium black frying skillet.", + "Move the rounded oval bread to the smooth interior skillet using the right arm.", + "Pick the rounded oval bread up and place it in the medium black frying skillet", + "Use the right arm to move the oval-shaped soft bread to the smooth interior skillet.", + "Use the right arm to grab the rounded oval bread and set it in the round black skillet", + "Pick up the rounded oval bread and drop it into the smooth interior skillet", + "Grab the rounded oval bread and place it in the round black skillet", + "Take the oval-shaped soft bread and put it in the medium black frying skillet", + "Grab the rounded oval bread and set it in the round black skillet", + "Grab the oval bread and place it into the smooth interior skillet.", + "Grab the oval-shaped soft bread and drop it into the smooth interior skillet.", + "Move the oval bread to the round black skillet using the right arm.", + "Pick the oval-shaped soft bread up and place it in the smooth interior skillet", + "Use the right arm to move the oval-shaped soft bread to the round black skillet.", + "Use the right arm to grab the oval bread and set it in the round black skillet", + "Pick up the oval-shaped soft bread and drop it into the smooth interior skillet", + "Grab the rounded oval bread and place it in the smooth interior skillet", + "Take the oval-shaped soft bread and put it in the smooth interior skillet", + "Grab the oval-shaped soft bread and set it in the smooth interior skillet", + "Grab the oval-shaped soft bread and place it into the round black skillet.", + "Grab the oval-shaped soft bread and drop it into the round black skillet.", + "Move the oval-shaped soft bread to the smooth interior skillet using the right arm.", + "Pick the oval-shaped soft bread up and place it in the smooth interior skillet", + "Use the right arm to move the oval-shaped soft bread to the medium black frying skillet.", + "Use the right arm to grab the oval bread and set it in the smooth interior skillet", + "Pick up the rounded oval bread and drop it into the medium black frying skillet", + "Grab the rounded oval bread and place it in the smooth interior skillet", + "Take the oval-shaped soft bread and put it in the medium black frying skillet", + "Grab the oval-shaped soft bread and set it in the smooth interior skillet", + "Grab the oval bread and place it into the round black skillet.", + "Grab the oval-shaped soft bread and drop it into the medium black frying skillet.", + "Move the oval-shaped soft bread to the medium black frying skillet using the right arm.", + "Pick the oval bread up and place it in the medium black frying skillet", + "Use the right arm to move the rounded oval bread to the smooth interior skillet.", + "Use the right arm to grab the rounded oval bread and set it in the smooth interior skillet", + "Pick up the oval-shaped soft bread and drop it into the smooth interior skillet", + "Grab the rounded oval bread and place it in the smooth interior skillet", + "Take the oval bread and put it in the smooth interior skillet", + "Grab the oval bread and set it in the medium black frying skillet", + "Grab the rounded oval bread and place it into the smooth interior skillet.", + "Grab the oval bread and drop it into the medium black frying skillet.", + "Move the oval bread to the medium black frying skillet using the right arm.", + "Pick the oval-shaped soft bread up and place it in the smooth interior skillet", + "Use the right arm to move the oval bread to the smooth interior skillet.", + "Use the right arm to grab the oval-shaped soft bread and set it in the smooth interior skillet", + "Pick up the rounded oval bread and drop it into the smooth interior skillet", + "Grab the oval bread and place it in the medium black frying skillet", + "Take the rounded oval bread and put it in the smooth interior skillet", + "Grab the oval-shaped soft bread and set it in the smooth interior skillet", + "Grab the oval bread and place it into the round black skillet.", + "Grab the oval-shaped soft bread and drop it into the smooth interior skillet.", + "Move the oval-shaped soft bread to the medium black frying skillet using the right arm.", + "Pick the oval bread up and place it in the round black skillet", + "Use the right arm to move the oval-shaped soft bread to the medium black frying skillet.", + "Use the right arm to grab the oval bread and set it in the medium black frying skillet", + "Pick up the oval-shaped soft bread and drop it into the round black skillet", + "Grab the oval-shaped soft bread and place it in the medium black frying skillet", + "Take the rounded oval bread and put it in the round black skillet", + "Grab the oval-shaped soft bread and set it in the smooth interior skillet", + "Grab the oval-shaped soft bread and place it into the round black skillet.", + "Grab the oval bread and drop it into the medium black frying skillet.", + "Move the oval bread to the smooth interior skillet using the right arm.", + "Pick the rounded oval bread up and place it in the round black skillet", + "Use the right arm to move the oval-shaped soft bread to the smooth interior skillet.", + "Use the right arm to grab the rounded oval bread and set it in the round black skillet", + "Pick up the oval bread and drop it into the round black skillet", + "Grab the oval-shaped soft bread and place it in the medium black frying skillet", + "Take the rounded oval bread and put it in the medium black frying skillet", + "Grab the oval bread and set it in the round black skillet", + "Grab the oval bread and place it into the medium black frying skillet.", + "Grab the oval-shaped soft bread and drop it into the medium black frying skillet.", + "Move the oval-shaped soft bread to the smooth interior skillet using the right arm.", + "Pick the rounded oval bread up and place it in the round black skillet", + "Use the right arm to move the oval-shaped soft bread to the medium black frying skillet.", + "Use the right arm to grab the rounded oval bread and set it in the medium black frying skillet", + "Pick up the rounded oval bread and drop it into the medium black frying skillet", + "Grab the oval bread and place it in the medium black frying skillet", + "Take the oval bread and put it in the round black skillet", + "Grab the oval bread and set it in the round black skillet", + "Grab the oval-shaped soft bread and place it into the medium black frying skillet.", + "Grab the rounded oval bread and drop it into the medium black frying skillet.", + "Move the oval bread to the smooth interior skillet using the right arm.", + "Pick the oval-shaped soft bread up and place it in the round black skillet", + "Use the right arm to move the oval bread to the round black skillet.", + "Use the right arm to grab the rounded oval bread and set it in the smooth interior skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode38.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode38.json new file mode 100644 index 0000000000000000000000000000000000000000..e907e137df5383d7a2cc9da6ba73c060f9b05cf3 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode38.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick the smooth loaf with rounded edges for the round skillet with handle", + "Lift the light brown bread with ridges using the left arm and move it to the black-surfaced skillet with gray sides", + "Use the left arm to pick the light brown bread with ridges and put it in the flat-bottom skillet", + "Move the light brown loaf with smooth sides to the gray skillet for stovetop cooking using the left arm", + "Pick the hand-sized oval loaf and set it into the black-surfaced skillet with gray sides.", + "Pick the soft brown bread and transfer it to the round skillet with open handle end", + "Grab the light brown bread with ridges and drop it into the flat-bottom skillet", + "Use the left arm to stick the light brown bread with ridges into the flat-bottom skillet.", + "Pick the small loaf with curved top with the left arm and set it in the metal skillet with comfortable grip", + "Move the smooth loaf with rounded edges into the black-surfaced skillet with gray sides from the table", + "Take the bread with split top and set it into the flat-bottom skillet", + "Grab the soft brown bread from the table and set it in the skillet for frying food.", + "Take the bread with split top and drop it into the smooth non-stick skillet.", + "Take the hand-sized oval loaf and place it inside the round skillet with handle", + "Take the small golden brown bread with the left arm and drop into the round skillet with open handle end", + "Grab the small loaf with curved top and place it inside the flat-bottom skillet.", + "Take the small loaf with curved top and put it in the skillet for frying food.", + "Move the soft brown bread from table into the skillet with black cooking surface", + "Place the bread with golden-brown crust from the table into the metal skillet with comfortable grip", + "Pick up the light brown loaf with smooth sides and place it in the dark gray skillet.", + "Grab the bread with warm golden color using the left arm and place it in the flat-bottom skillet", + "Use the left arm to lift the small loaf with curved top and place it into the dark gray skillet.", + "Use the left arm to move the light brown loaf with smooth sides into the gray skillet for stovetop cooking", + "Place the soft brown bread into the metal skillet with comfortable grip with the left arm.", + "Use the left arm to grab the brown loaf for the metal skillet with comfortable grip", + "Use the left arm to place the golden bread loaf into the medium-sized frying skillet", + "Grab the small golden brown bread and stick it in the round skillet with open handle end.", + "Lift the small loaf with curved top and drop it into the metal skillet with comfortable grip.", + "Put the bread with warm golden color into the dark gray skillet.", + "Pick the bread with warm golden color up using the left arm and drop it in the skillet with black cooking surface.", + "Pick up the bread with split top with the left arm and drop it in the black-surfaced skillet with gray sides", + "Use the left arm to pick the small loaf with curved top and place it into the skillet with black cooking surface.", + "Take the hand-sized oval loaf off the table into the round skillet with open handle end", + "Lift the bread with split top and drop it into the medium-sized frying skillet", + "Transfer the bread with golden-brown crust into the gray skillet for stovetop cooking from the table", + "Put the bread with split top into the skillet for frying food after grabbing it", + "Take the bread with split top and put it in the skillet for frying food.", + "Use the left arm to grab the smooth loaf with rounded edges and set it in the round skillet with open handle end.", + "Set the golden bread loaf into the gray skillet for stovetop cooking after grabbing", + "Use the left arm to take the soft brown bread and move it into the metal skillet.", + "Use the left arm to move the bread with warm golden color and set it into the dark gray skillet.", + "Use the left arm to set the bread with warm golden color into the metal skillet with comfortable grip.", + "Grab the hand-sized oval loaf with the left arm and place in the round skillet with open handle end", + "Use the left arm to pick the soft brown bread up for the metal skillet with comfortable grip", + "Use the left arm to grab the small loaf with curved top for the skillet with black cooking surface", + "Pick the small loaf with curved top off the table and place it in the black-surfaced skillet with gray sides.", + "Pick up the soft brown bread and put it in the dark gray skillet", + "Grab the brown loaf and place it inside the smooth non-stick skillet", + "Take the smooth loaf with rounded edges and place it inside the metal skillet with comfortable grip", + "Place the bread with warm golden color into the gray skillet for stovetop cooking using the left arm", + "Use the left arm to pick the bread with golden-brown crust for the medium-sized frying skillet", + "Lift the light brown loaf with smooth sides using the left arm and move it to the gray skillet for stovetop cooking", + "Use the left arm to pick the small golden brown bread and put it in the round skillet with handle", + "Move the light brown bread with ridges to the round skillet with handle using the left arm", + "Pick the small golden brown bread and set it into the medium-sized frying skillet.", + "Pick the bread with warm golden color and transfer it to the smooth non-stick skillet", + "Grab the small golden brown bread and drop it into the round skillet with open handle end", + "Use the left arm to stick the light brown bread with ridges into the black-surfaced skillet with gray sides.", + "Pick the small loaf with curved top with the left arm and set it in the metal skillet with comfortable grip", + "Move the light brown bread with ridges into the round skillet with open handle end from the table", + "Take the brown loaf and set it into the flat-bottom skillet", + "Grab the light brown loaf with smooth sides from the table and set it in the round skillet with handle.", + "Take the bread with golden-brown crust and drop it into the black-surfaced skillet with gray sides.", + "Take the light brown loaf with smooth sides and place it inside the gray skillet for stovetop cooking", + "Take the bread with warm golden color with the left arm and drop into the skillet for frying food", + "Grab the hand-sized oval loaf and place it inside the metal skillet.", + "Take the golden bread loaf and put it in the dark gray skillet.", + "Move the brown loaf from table into the skillet with black cooking surface", + "Place the golden bread loaf from the table into the metal skillet", + "Pick up the bread with warm golden color and place it in the flat-bottom skillet.", + "Grab the light brown bread with ridges using the left arm and place it in the skillet with black cooking surface", + "Use the left arm to lift the brown loaf and place it into the gray skillet for stovetop cooking.", + "Use the left arm to move the soft brown bread into the skillet for frying food", + "Place the bread with warm golden color into the gray skillet for stovetop cooking with the left arm.", + "Use the left arm to grab the smooth loaf with rounded edges for the round skillet with open handle end", + "Use the left arm to place the hand-sized oval loaf into the round skillet with open handle end", + "Grab the bread with split top and stick it in the skillet with black cooking surface.", + "Lift the light brown bread with ridges and drop it into the metal skillet.", + "Put the small golden brown bread into the flat-bottom skillet.", + "Pick the light brown loaf with smooth sides up using the left arm and drop it in the smooth non-stick skillet.", + "Pick up the bread with golden-brown crust with the left arm and drop it in the black-surfaced skillet with gray sides", + "Use the left arm to pick the hand-sized oval loaf and place it into the round skillet with open handle end.", + "Take the golden bread loaf off the table into the gray skillet for stovetop cooking", + "Lift the bread with split top and drop it into the medium-sized frying skillet", + "Transfer the light brown bread with ridges into the round skillet with handle from the table", + "Put the golden bread loaf into the metal skillet after grabbing it", + "Take the light brown loaf with smooth sides and put it in the gray skillet for stovetop cooking.", + "Use the left arm to grab the small loaf with curved top and set it in the skillet for frying food.", + "Set the bread with warm golden color into the skillet for frying food after grabbing", + "Use the left arm to take the bread with golden-brown crust and move it into the black-surfaced skillet with gray sides.", + "Use the left arm to move the brown loaf and set it into the medium-sized frying skillet.", + "Use the left arm to set the bread with warm golden color into the flat-bottom skillet.", + "Grab the smooth loaf with rounded edges with the left arm and place in the round skillet with handle", + "Use the left arm to pick the soft brown bread up for the round skillet with handle", + "Use the left arm to grab the smooth loaf with rounded edges for the flat-bottom skillet", + "Pick the soft brown bread off the table and place it in the metal skillet with comfortable grip.", + "Pick up the light brown loaf with smooth sides and put it in the skillet with black cooking surface", + "Grab the light brown bread with ridges and place it inside the gray skillet for stovetop cooking", + "Take the hand-sized oval loaf and place it inside the dark gray skillet", + "Place the bread with golden-brown crust into the black-surfaced skillet with gray sides using the left arm" + ], + "unseen": [ + "Take the rounded oval bread and put it in the pan-shaped skillet with hole in handle", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the left arm.", + "Use the left arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Grab the oval bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the oval-shaped soft bread and place it in the dark skillet with shiny finish", + "Pick the oval bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Use the left arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Take the oval-shaped soft bread and put it in the dark skillet with shiny finish", + "Move the oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and drop it into the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and place it in the dark skillet with shiny finish", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Take the oval-shaped soft bread and put it in the dark skillet with shiny finish", + "Move the oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to move the oval-shaped soft bread to the versatile skillet for frying and sauteing.", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and drop it into the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Take the oval-shaped soft bread and put it in the pan-shaped skillet with hole in handle", + "Move the oval bread to the versatile skillet for frying and sauteing using the left arm.", + "Use the left arm to move the oval-shaped soft bread to the pan-shaped skillet with hole in handle.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Pick up the oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and place it into the dark skillet with shiny finish.", + "Grab the oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and place it in the pan-shaped skillet with hole in handle", + "Pick the oval-shaped soft bread up and place it in the dark skillet with shiny finish", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Use the left arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Move the oval bread to the dark skillet with shiny finish using the left arm.", + "Use the left arm to move the rounded oval bread to the dark skillet with shiny finish.", + "Pick up the oval bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and drop it into the versatile skillet for frying and sauteing.", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Pick the oval bread up and place it in the dark skillet with shiny finish", + "Grab the oval bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Take the rounded oval bread and put it in the versatile skillet for frying and sauteing", + "Move the oval-shaped soft bread to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the oval bread to the pan-shaped skillet with hole in handle.", + "Pick up the oval-shaped soft bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the versatile skillet for frying and sauteing.", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Grab the rounded oval bread and place it in the versatile skillet for frying and sauteing", + "Pick the rounded oval bread up and place it in the versatile skillet for frying and sauteing", + "Grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the oval bread and set it in the pan-shaped skillet with hole in handle", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Move the oval-shaped soft bread to the dark skillet with shiny finish using the left arm.", + "Use the left arm to move the oval bread to the versatile skillet for frying and sauteing.", + "Pick up the oval-shaped soft bread and drop it into the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Pick the rounded oval bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the rounded oval bread and set it in the dark skillet with shiny finish", + "Use the left arm to grab the oval-shaped soft bread and set it in the versatile skillet for frying and sauteing", + "Take the rounded oval bread and put it in the dark skillet with shiny finish", + "Move the oval bread to the dark skillet with shiny finish using the left arm.", + "Use the left arm to move the oval-shaped soft bread to the dark skillet with shiny finish.", + "Pick up the rounded oval bread and drop it into the versatile skillet for frying and sauteing", + "Grab the oval bread and place it into the pan-shaped skillet with hole in handle.", + "Grab the rounded oval bread and drop it into the pan-shaped skillet with hole in handle.", + "Grab the oval-shaped soft bread and place it in the pan-shaped skillet with hole in handle", + "Pick the oval-shaped soft bread up and place it in the versatile skillet for frying and sauteing", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Use the left arm to grab the rounded oval bread and set it in the versatile skillet for frying and sauteing", + "Take the oval bread and put it in the versatile skillet for frying and sauteing", + "Move the rounded oval bread to the pan-shaped skillet with hole in handle using the left arm.", + "Use the left arm to move the rounded oval bread to the pan-shaped skillet with hole in handle.", + "Pick up the oval bread and drop it into the dark skillet with shiny finish", + "Grab the rounded oval bread and place it into the versatile skillet for frying and sauteing.", + "Grab the oval bread and drop it into the dark skillet with shiny finish.", + "Grab the oval bread and place it in the dark skillet with shiny finish", + "Pick the oval-shaped soft bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the oval-shaped soft bread and set it in the dark skillet with shiny finish", + "Use the left arm to grab the oval bread and set it in the dark skillet with shiny finish" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode39.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode39.json new file mode 100644 index 0000000000000000000000000000000000000000..f4dbd6f7d65f0c6d980f4c8f4a09511c31348dc3 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode39.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Take the brown loaf and set it into the black pan with curved edges", + "Use the right arm to grab the smooth loaf with rounded edges for the medium black pan with handle", + "Set the soft brown bread into the skillet with extended grip handle after grabbing", + "Lift the bread with split top and drop it into the skillet with extended grip handle.", + "Move the small golden brown bread from table into the flat-bottomed skillet with long handle", + "Lift the light brown loaf with smooth sides using the right arm and move it to the round pan with hole in handle", + "Use the right arm to lift the small loaf with curved top and place it into the smooth round pan made of iron.", + "Grab the brown loaf from the table and set it in the medium black pan with handle.", + "Take the small loaf with curved top and place it inside the round pan with hole in handle", + "Pick the bread with split top and transfer it to the round cooking pan", + "Grab the bread with split top using the right arm and place it in the smooth round pan made of iron", + "Grab the light brown bread with ridges with the right arm and place in the solid dark-colored round pan", + "Place the light brown loaf with smooth sides into the smooth round pan made of iron with the right arm.", + "Use the right arm to pick the light brown loaf with smooth sides for the round pan with hole in handle", + "Move the hand-sized oval loaf into the medium black pan with handle from the table", + "Take the brown loaf and drop it into the black pan with curved edges.", + "Place the bread with warm golden color from the table into the heavy black cooking skillet", + "Pick the small golden brown bread and set it into the black skillet with smooth base.", + "Use the right arm to grab the bread with golden-brown crust for the round cooking pan", + "Take the hand-sized oval loaf and put it in the black pan with curved edges.", + "Take the small golden brown bread and place it inside the versatile skillet for stovetop cooking", + "Pick up the smooth loaf with rounded edges with the right arm and drop it in the black skillet with smooth base", + "Transfer the bread with golden-brown crust into the black skillet with smooth base from the table", + "Use the right arm to take the brown loaf and move it into the black pan with curved edges.", + "Pick the brown loaf with the right arm and set it in the black skillet with smooth base", + "Pick the smooth loaf with rounded edges off the table and place it in the black skillet with smooth base.", + "Use the right arm to pick the small loaf with curved top up for the medium black pan with handle", + "Use the right arm to move the soft brown bread and set it into the round cooking pan.", + "Place the golden bread loaf into the black pan with curved edges using the right arm", + "Use the right arm to pick the golden bread loaf and put it in the smooth round pan made of iron", + "Use the right arm to move the light brown bread with ridges into the smooth round pan made of iron", + "Put the bread with split top into the medium black pan with handle after grabbing it", + "Pick the bread with split top up using the right arm and drop it in the heavy black cooking skillet.", + "Pick up the golden bread loaf and put it in the heavy black cooking skillet", + "Grab the smooth loaf with rounded edges and place it inside the smooth round pan made of iron", + "Grab the light brown loaf with smooth sides and stick it in the heavy black cooking skillet.", + "Take the small loaf with curved top with the right arm and drop into the solid dark-colored round pan", + "Grab the hand-sized oval loaf and place it inside the versatile skillet for stovetop cooking.", + "Take the light brown bread with ridges and put it in the solid dark-colored round pan.", + "Put the light brown loaf with smooth sides into the black skillet with smooth base.", + "Grab the bread with split top and drop it into the black pan with curved edges", + "Use the right arm to place the bread with warm golden color into the smooth round pan made of iron", + "Take the bread with golden-brown crust off the table into the dark pan with sturdy grip", + "Pick up the smooth loaf with rounded edges and place it in the black pan with curved edges.", + "Move the light brown bread with ridges to the dark pan with sturdy grip using the right arm", + "Use the right arm to set the golden bread loaf into the solid dark-colored round pan.", + "Lift the light brown bread with ridges and drop it into the flat-bottomed skillet with long handle", + "Use the right arm to pick the light brown loaf with smooth sides and place it into the smooth round pan made of iron.", + "Use the right arm to grab the small loaf with curved top and set it in the versatile skillet for stovetop cooking.", + "Use the right arm to stick the smooth loaf with rounded edges into the smooth round pan made of iron.", + "Take the light brown loaf with smooth sides and set it into the round pan with hole in handle", + "Use the right arm to grab the small golden brown bread for the solid dark-colored round pan", + "Set the small golden brown bread into the skillet with extended grip handle after grabbing", + "Lift the brown loaf and drop it into the smooth round pan made of iron.", + "Move the smooth loaf with rounded edges from table into the dark pan with sturdy grip", + "Lift the soft brown bread using the right arm and move it to the smooth round pan made of iron", + "Use the right arm to lift the light brown bread with ridges and place it into the medium black pan with handle.", + "Grab the bread with golden-brown crust from the table and set it in the round pan with hole in handle.", + "Take the small golden brown bread and place it inside the versatile skillet for stovetop cooking", + "Pick the light brown bread with ridges and transfer it to the dark pan with sturdy grip", + "Grab the golden bread loaf using the right arm and place it in the dark pan with sturdy grip", + "Grab the soft brown bread with the right arm and place in the black skillet with smooth base", + "Place the smooth loaf with rounded edges into the dark pan with sturdy grip with the right arm.", + "Use the right arm to pick the bread with warm golden color for the round pan with hole in handle", + "Move the light brown bread with ridges into the heavy black cooking skillet from the table", + "Take the bread with golden-brown crust and drop it into the medium black pan with handle.", + "Place the small golden brown bread from the table into the flat-bottomed skillet with long handle", + "Pick the soft brown bread and set it into the flat-bottomed skillet with long handle.", + "Use the right arm to grab the small golden brown bread for the versatile skillet for stovetop cooking", + "Take the bread with warm golden color and put it in the flat-bottomed skillet with long handle.", + "Take the light brown loaf with smooth sides and place it inside the solid dark-colored round pan", + "Pick up the brown loaf with the right arm and drop it in the medium black pan with handle", + "Transfer the small golden brown bread into the black skillet with smooth base from the table", + "Use the right arm to take the golden bread loaf and move it into the solid dark-colored round pan.", + "Pick the bread with split top with the right arm and set it in the smooth round pan made of iron", + "Pick the hand-sized oval loaf off the table and place it in the round pan with hole in handle.", + "Use the right arm to pick the light brown bread with ridges up for the flat-bottomed skillet with long handle", + "Use the right arm to move the hand-sized oval loaf and set it into the black skillet with smooth base.", + "Place the bread with split top into the skillet with extended grip handle using the right arm", + "Use the right arm to pick the soft brown bread and put it in the round pan with hole in handle", + "Use the right arm to move the golden bread loaf into the heavy black cooking skillet", + "Put the golden bread loaf into the smooth round pan made of iron after grabbing it", + "Pick the golden bread loaf up using the right arm and drop it in the medium black pan with handle.", + "Pick up the soft brown bread and put it in the black skillet with smooth base", + "Grab the small loaf with curved top and place it inside the versatile skillet for stovetop cooking", + "Grab the small golden brown bread and stick it in the medium black pan with handle.", + "Take the light brown bread with ridges with the right arm and drop into the solid dark-colored round pan", + "Grab the hand-sized oval loaf and place it inside the black pan with curved edges.", + "Take the bread with golden-brown crust and put it in the round pan with hole in handle.", + "Put the brown loaf into the skillet with extended grip handle.", + "Grab the hand-sized oval loaf and drop it into the versatile skillet for stovetop cooking", + "Use the right arm to place the bread with golden-brown crust into the dark pan with sturdy grip", + "Take the soft brown bread off the table into the versatile skillet for stovetop cooking", + "Pick up the golden bread loaf and place it in the versatile skillet for stovetop cooking.", + "Move the soft brown bread to the black pan with curved edges using the right arm", + "Use the right arm to set the small loaf with curved top into the black skillet with smooth base.", + "Lift the light brown loaf with smooth sides and drop it into the black skillet with smooth base", + "Use the right arm to pick the bread with golden-brown crust and place it into the medium black pan with handle.", + "Use the right arm to grab the brown loaf and set it in the solid dark-colored round pan.", + "Use the right arm to stick the smooth loaf with rounded edges into the round pan with hole in handle." + ], + "unseen": [ + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Pick the oval bread up and place it in the black skillet", + "Grab the oval bread and set it in the black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Take the rounded oval bread and put it in the black skillet", + "Grab the oval bread and drop it into the iron skillet for frying foods.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Grab the oval bread and place it into the black skillet.", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Grab the oval bread and set it in the black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Take the oval-shaped soft bread and put it in the round cast-iron skillet", + "Grab the oval bread and drop it into the black skillet.", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Grab the oval bread and place it in the iron skillet for frying foods", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Grab the rounded oval bread and place it into the iron skillet for frying foods.", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Take the oval-shaped soft bread and put it in the black skillet", + "Grab the rounded oval bread and drop it into the black skillet.", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Grab the oval bread and place it in the round cast-iron skillet", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Grab the oval bread and set it in the round cast-iron skillet", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Take the oval bread and put it in the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the black skillet.", + "Use the right arm to move the rounded oval bread to the black skillet.", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Grab the oval bread and place it into the black skillet.", + "Pick up the oval bread and drop it into the black skillet", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Use the right arm to move the oval-shaped soft bread to the iron skillet for frying foods.", + "Grab the rounded oval bread and place it in the black skillet", + "Move the oval bread to the iron skillet for frying foods using the right arm.", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Pick up the rounded oval bread and drop it into the black skillet", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Use the right arm to move the oval-shaped soft bread to the round cast-iron skillet.", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the round cast-iron skillet using the right arm.", + "Grab the oval bread and place it into the black skillet.", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Pick the oval-shaped soft bread up and place it in the round cast-iron skillet", + "Grab the oval bread and set it in the round cast-iron skillet", + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Take the oval bread and put it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Grab the rounded oval bread and place it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Grab the rounded oval bread and place it into the round cast-iron skillet.", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Take the oval-shaped soft bread and put it in the black skillet", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Use the right arm to move the rounded oval bread to the black skillet.", + "Grab the oval bread and place it in the black skillet", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the black skillet", + "Take the oval bread and put it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Grab the oval bread and set it in the black skillet", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Take the oval bread and put it in the black skillet", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Use the right arm to move the rounded oval bread to the iron skillet for frying foods.", + "Grab the oval bread and place it in the iron skillet for frying foods" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode4.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode4.json new file mode 100644 index 0000000000000000000000000000000000000000..4a4058031f5acf58c3da4c92d034462e2431db31 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode4.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the smooth crusty small bread off the table and place it in the metal skillet.", + "Use the right arm to move the small golden baked bread and set it into the smooth non-stick skillet.", + "Grab the smooth crusty small bread and place it inside the medium-sized frying skillet", + "Set the golden brown bread with braided design into the flat-bottom skillet after grabbing", + "Transfer the small bread into the smooth non-stick skillet from the table", + "Take the golden brown bread and place it inside the medium-sized frying skillet", + "Pick up the soft doughy bread with the right arm and drop it in the skillet with black cooking surface", + "Grab the braided bread loaf using the right arm and place it in the gray skillet for stovetop cooking", + "Take the bread with golden crust and drop it into the dark gray skillet.", + "Pick the small golden baked bread with the right arm and set it in the metal skillet", + "Take the round bread with braided top and set it into the metal skillet", + "Grab the soft doughy bread from the table and set it in the round skillet with open handle end.", + "Lift the soft golden bread using the right arm and move it to the smooth non-stick skillet", + "Place the small golden baked bread into the skillet with black cooking surface with the right arm.", + "Take the small golden baked bread and put it in the round skillet with open handle end.", + "Use the right arm to grab the golden brown bread with braided design and set it in the black-surfaced skillet with gray sides.", + "Grab the small golden baked bread with the right arm and place in the round skillet with handle", + "Use the right arm to pick the bread with golden crust and place it into the round skillet with handle.", + "Grab the soft doughy bread and drop it into the metal skillet", + "Use the right arm to move the smooth crusty small bread into the flat-bottom skillet", + "Use the right arm to lift the golden bread loaf with soft inside and place it into the round skillet with handle.", + "Pick the small bread and set it into the medium-sized frying skillet.", + "Use the right arm to place the round bread with crusty texture into the skillet for frying food", + "Grab the soft golden bread and place it inside the skillet for frying food.", + "Pick up the braided bread loaf and put it in the smooth non-stick skillet", + "Grab the braided bread loaf and stick it in the black-surfaced skillet with gray sides.", + "Pick up the golden brown bread with braided design and place it in the round skillet with open handle end.", + "Take the small golden baked bread with the right arm and drop into the metal skillet with comfortable grip", + "Use the right arm to set the soft doughy bread into the black-surfaced skillet with gray sides.", + "Put the bread with golden crust into the skillet for frying food after grabbing it", + "Use the right arm to pick the golden bread loaf with soft inside and put it in the metal skillet", + "Move the smooth crusty small bread to the gray skillet for stovetop cooking using the right arm", + "Take the golden brown bread with braided design and place it inside the metal skillet with comfortable grip", + "Pick the soft golden bread and transfer it to the smooth non-stick skillet", + "Move the bread with golden crust from table into the smooth non-stick skillet", + "Put the round bread with crusty texture into the round skillet with handle.", + "Place the bread with golden crust from the table into the medium-sized frying skillet", + "Lift the soft golden bread and drop it into the metal skillet.", + "Use the right arm to take the soft golden bread and move it into the round skillet with open handle end.", + "Use the right arm to grab the small golden baked bread for the medium-sized frying skillet", + "Use the right arm to grab the bread with golden crust for the medium-sized frying skillet", + "Take the golden brown bread and put it in the skillet with black cooking surface.", + "Take the bread with golden crust off the table into the flat-bottom skillet", + "Use the right arm to pick the golden brown bread with braided design up for the dark gray skillet", + "Use the right arm to stick the small golden baked bread into the round skillet with handle.", + "Lift the small golden baked bread and drop it into the gray skillet for stovetop cooking", + "Move the golden brown bread with braided design into the metal skillet with comfortable grip from the table", + "Place the smooth crusty small bread into the skillet with black cooking surface using the right arm", + "Use the right arm to pick the soft golden bread for the metal skillet", + "Pick the braided bread loaf up using the right arm and drop it in the black-surfaced skillet with gray sides.", + "Pick the golden brown bread with braided design off the table and place it in the dark gray skillet.", + "Use the right arm to move the braided bread loaf and set it into the medium-sized frying skillet.", + "Grab the small bread and place it inside the gray skillet for stovetop cooking", + "Set the smooth crusty small bread into the metal skillet with comfortable grip after grabbing", + "Transfer the smooth crusty small bread into the black-surfaced skillet with gray sides from the table", + "Take the bread with golden crust and place it inside the skillet with black cooking surface", + "Pick up the small bread with the right arm and drop it in the metal skillet with comfortable grip", + "Grab the golden brown bread using the right arm and place it in the dark gray skillet", + "Take the golden brown bread with braided design and drop it into the metal skillet.", + "Pick the soft golden bread with the right arm and set it in the round skillet with handle", + "Take the soft golden bread and set it into the dark gray skillet", + "Grab the round bread with braided top from the table and set it in the metal skillet.", + "Lift the soft golden bread using the right arm and move it to the dark gray skillet", + "Place the small bread into the gray skillet for stovetop cooking with the right arm.", + "Take the golden brown bread and put it in the flat-bottom skillet.", + "Use the right arm to grab the small golden baked bread and set it in the medium-sized frying skillet.", + "Grab the round bread with crusty texture with the right arm and place in the metal skillet", + "Use the right arm to pick the golden bread loaf with soft inside and place it into the black-surfaced skillet with gray sides.", + "Grab the soft doughy bread and drop it into the skillet for frying food", + "Use the right arm to move the golden brown bread into the skillet for frying food", + "Use the right arm to lift the braided bread loaf and place it into the black-surfaced skillet with gray sides.", + "Pick the small bread and set it into the metal skillet.", + "Use the right arm to place the golden brown bread into the round skillet with handle", + "Grab the small bread and place it inside the gray skillet for stovetop cooking.", + "Pick up the small golden baked bread and put it in the metal skillet", + "Grab the soft golden bread and stick it in the smooth non-stick skillet.", + "Pick up the soft golden bread and place it in the round skillet with open handle end.", + "Take the soft doughy bread with the right arm and drop into the smooth non-stick skillet", + "Use the right arm to set the round bread with crusty texture into the smooth non-stick skillet.", + "Put the braided bread loaf into the skillet for frying food after grabbing it", + "Use the right arm to pick the bread with golden crust and put it in the round skillet with open handle end", + "Move the round bread with braided top to the skillet with black cooking surface using the right arm", + "Take the braided bread loaf and place it inside the medium-sized frying skillet", + "Pick the smooth crusty small bread and transfer it to the skillet with black cooking surface", + "Move the soft golden bread from table into the smooth non-stick skillet", + "Put the smooth crusty small bread into the smooth non-stick skillet.", + "Place the golden brown bread from the table into the gray skillet for stovetop cooking", + "Lift the soft golden bread and drop it into the skillet for frying food.", + "Use the right arm to take the golden bread loaf with soft inside and move it into the gray skillet for stovetop cooking.", + "Use the right arm to grab the smooth crusty small bread for the round skillet with handle", + "Use the right arm to grab the round bread with braided top for the medium-sized frying skillet", + "Take the golden brown bread and put it in the skillet for frying food.", + "Take the golden brown bread off the table into the medium-sized frying skillet", + "Use the right arm to pick the soft doughy bread up for the flat-bottom skillet", + "Use the right arm to stick the soft doughy bread into the smooth non-stick skillet.", + "Lift the small golden baked bread and drop it into the skillet with black cooking surface", + "Move the bread with golden crust into the flat-bottom skillet from the table", + "Place the bread with golden crust into the skillet for frying food using the right arm", + "Use the right arm to pick the braided bread loaf for the skillet for frying food", + "Pick the braided bread loaf up using the right arm and drop it in the medium-sized frying skillet." + ], + "unseen": [ + "Grab the braided top round bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the round braided loaf up and place it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and set it in the dark skillet with shiny finish", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Move the palm-sized braided golden bread to the dark skillet with shiny finish using the right arm.", + "Grab the round braided loaf and place it in the dark skillet with shiny finish", + "Use the right arm to move the round braided loaf to the dark skillet with shiny finish.", + "Use the right arm to grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and drop it into the dark skillet with shiny finish.", + "Pick up the round braided loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and place it into the dark skillet with shiny finish.", + "Pick the palm-sized braided golden bread up and place it in the dark skillet with shiny finish", + "Grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Take the braided top round bread and put it in the pan-shaped skillet with hole in handle", + "Move the round braided loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the braided top round bread and place it in the dark skillet with shiny finish", + "Use the right arm to move the braided top round bread to the dark skillet with shiny finish.", + "Use the right arm to grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick up the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it into the versatile skillet for frying and sauteing.", + "Pick the palm-sized braided golden bread up and place it in the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and set it in the dark skillet with shiny finish", + "Take the round braided loaf and put it in the pan-shaped skillet with hole in handle", + "Move the palm-sized braided golden bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the round braided loaf and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the palm-sized braided golden bread to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the palm-sized braided golden bread and set it in the dark skillet with shiny finish", + "Grab the braided top round bread and drop it into the dark skillet with shiny finish.", + "Pick up the braided top round bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and place it into the versatile skillet for frying and sauteing.", + "Pick the palm-sized braided golden bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Take the palm-sized braided golden bread and put it in the versatile skillet for frying and sauteing", + "Move the palm-sized braided golden bread to the dark skillet with shiny finish using the right arm.", + "Grab the braided top round bread and place it in the dark skillet with shiny finish", + "Use the right arm to move the round braided loaf to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing.", + "Pick up the round braided loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the round braided loaf and place it into the pan-shaped skillet with hole in handle.", + "Pick the braided top round bread up and place it in the versatile skillet for frying and sauteing", + "Grab the braided top round bread and set it in the dark skillet with shiny finish", + "Take the palm-sized braided golden bread and put it in the dark skillet with shiny finish", + "Move the round braided loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the braided top round bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the round braided loaf to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the braided top round bread and set it in the dark skillet with shiny finish", + "Grab the braided top round bread and drop it into the dark skillet with shiny finish.", + "Pick up the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle", + "Grab the round braided loaf and place it into the dark skillet with shiny finish.", + "Pick the round braided loaf up and place it in the pan-shaped skillet with hole in handle", + "Grab the palm-sized braided golden bread and set it in the dark skillet with shiny finish", + "Take the palm-sized braided golden bread and put it in the pan-shaped skillet with hole in handle", + "Move the palm-sized braided golden bread to the dark skillet with shiny finish using the right arm.", + "Grab the round braided loaf and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the palm-sized braided golden bread to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the round braided loaf and set it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick up the braided top round bread and drop it into the versatile skillet for frying and sauteing", + "Grab the palm-sized braided golden bread and place it into the pan-shaped skillet with hole in handle.", + "Pick the palm-sized braided golden bread up and place it in the dark skillet with shiny finish", + "Grab the braided top round bread and set it in the dark skillet with shiny finish", + "Take the braided top round bread and put it in the pan-shaped skillet with hole in handle", + "Move the braided top round bread to the dark skillet with shiny finish using the right arm.", + "Grab the braided top round bread and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the palm-sized braided golden bread to the dark skillet with shiny finish.", + "Use the right arm to grab the round braided loaf and set it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing.", + "Pick up the braided top round bread and drop it into the dark skillet with shiny finish", + "Grab the round braided loaf and place it into the versatile skillet for frying and sauteing.", + "Pick the braided top round bread up and place it in the dark skillet with shiny finish", + "Grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Take the braided top round bread and put it in the versatile skillet for frying and sauteing", + "Move the braided top round bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the palm-sized braided golden bread and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the braided top round bread to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the braided top round bread and set it in the versatile skillet for frying and sauteing", + "Grab the round braided loaf and drop it into the versatile skillet for frying and sauteing.", + "Pick up the braided top round bread and drop it into the dark skillet with shiny finish", + "Grab the round braided loaf and place it into the pan-shaped skillet with hole in handle.", + "Pick the round braided loaf up and place it in the versatile skillet for frying and sauteing", + "Grab the braided top round bread and set it in the dark skillet with shiny finish", + "Take the round braided loaf and put it in the versatile skillet for frying and sauteing", + "Move the braided top round bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the palm-sized braided golden bread and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the palm-sized braided golden bread to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the braided top round bread and set it in the pan-shaped skillet with hole in handle", + "Grab the braided top round bread and drop it into the dark skillet with shiny finish.", + "Pick up the palm-sized braided golden bread and drop it into the versatile skillet for frying and sauteing", + "Grab the round braided loaf and place it into the dark skillet with shiny finish.", + "Pick the palm-sized braided golden bread up and place it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and set it in the pan-shaped skillet with hole in handle", + "Take the round braided loaf and put it in the dark skillet with shiny finish", + "Move the braided top round bread to the dark skillet with shiny finish using the right arm.", + "Grab the palm-sized braided golden bread and place it in the dark skillet with shiny finish", + "Use the right arm to move the round braided loaf to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the palm-sized braided golden bread and set it in the dark skillet with shiny finish", + "Grab the palm-sized braided golden bread and drop it into the dark skillet with shiny finish.", + "Pick up the palm-sized braided golden bread and drop it into the pan-shaped skillet with hole in handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode40.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode40.json new file mode 100644 index 0000000000000000000000000000000000000000..9b6f39e831b3d2801b0b7815431034cad38ab88f --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode40.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the light golden brown bread for the smooth cast iron skillet", + "Lift the bread with rough texture and drop it into the medium round cast iron skillet", + "Grab the golden bread with the right arm and place in the smooth cast iron skillet", + "Use the right arm to set the bread loaf with uneven edges into the hefty black skillet.", + "Use the right arm to move the bread loaf with uneven edges and set it into the medium round cast iron skillet.", + "Move the square-shaped bread to the pan with dark finish using the right arm", + "Grab the golden bread and place it inside the dark gray skillet", + "Grab the bread loaf with uneven edges and place it inside the medium skillet.", + "Use the right arm to pick the square-shaped bread and put it in the medium skillet", + "Use the right arm to lift the bread block with light patches and place it into the medium skillet.", + "Lift the bread loaf with bumpy surface using the right arm and move it to the gray cooking pan with handle", + "Place the bread loaf with uneven edges from the table into the smooth round cooking skillet", + "Put the bread block with light patches into the gray pan after grabbing it", + "Use the right arm to grab the golden bread and set it in the hefty black skillet.", + "Pick up the bread with rough texture with the right arm and drop it in the gray pan", + "Use the right arm to stick the square-shaped bread into the smooth cast iron skillet.", + "Pick up the bread block with light patches and place it in the medium round cast iron skillet.", + "Take the cuboid bread and drop it into the gray cooking pan with handle.", + "Use the right arm to place the bread loaf with uneven edges into the rounded skillet with a holey handle", + "Take the bread block with light patches with the right arm and drop into the gray pan", + "Pick up the hand-sized bread block and put it in the smooth round cooking skillet", + "Use the right arm to pick the bread block with light patches for the smooth cast iron skillet", + "Pick the square-shaped bread and transfer it to the medium skillet", + "Pick the bread block with light patches up using the right arm and drop it in the skillet for cooking.", + "Set the light golden brown bread into the hefty black skillet after grabbing", + "Use the right arm to take the light golden brown bread and move it into the hefty black skillet.", + "Use the right arm to pick the golden bread and place it into the dark gray skillet.", + "Grab the doughy and soft bread using the right arm and place it in the smooth cast iron skillet", + "Put the cuboid bread into the medium skillet.", + "Take the bread block with light patches and put it in the skillet for cooking.", + "Take the hand-sized bread block and place it inside the medium round cast iron skillet", + "Take the doughy and soft bread and put it in the gray cooking pan with handle.", + "Pick the bread loaf with bumpy surface off the table and place it in the gray pan.", + "Use the right arm to grab the bread loaf with uneven edges for the dark gray skillet", + "Transfer the golden bread into the rounded skillet with a holey handle from the table", + "Grab the golden bread and stick it in the skillet for cooking.", + "Pick the hand-sized bread block and set it into the hefty black skillet.", + "Take the square-shaped bread and set it into the smooth cast iron skillet", + "Take the soft bread off the table into the gray pan", + "Grab the bread block with light patches from the table and set it in the pan with dark finish.", + "Take the bread loaf with bumpy surface and place it inside the medium skillet", + "Grab the bread loaf with bumpy surface and drop it into the gray cooking pan with handle", + "Place the bread loaf with uneven edges into the dark gray skillet with the right arm.", + "Move the golden bread loaf from table into the hefty black skillet", + "Lift the cuboid bread and drop it into the smooth round cooking skillet.", + "Use the right arm to move the light golden brown bread into the round skillet with handle", + "Move the soft bread into the smooth round cooking skillet from the table", + "Place the golden bread loaf into the skillet for cooking using the right arm", + "Use the right arm to pick the bread with rough texture up for the pan with dark finish", + "Pick the golden bread loaf with the right arm and set it in the smooth round cooking skillet", + "Use the right arm to grab the doughy and soft bread for the rounded skillet with a holey handle", + "Lift the golden bread loaf and drop it into the smooth cast iron skillet", + "Grab the light golden brown bread with the right arm and place in the rounded skillet with a holey handle", + "Use the right arm to set the cuboid bread into the round skillet with handle.", + "Use the right arm to move the doughy and soft bread and set it into the medium skillet.", + "Move the golden bread to the hefty black skillet using the right arm", + "Grab the square-shaped bread and place it inside the gray cooking pan with handle", + "Grab the light golden brown bread and place it inside the hefty black skillet.", + "Use the right arm to pick the bread loaf with bumpy surface and put it in the pan with dark finish", + "Use the right arm to lift the soft bread and place it into the rounded skillet with a holey handle.", + "Lift the bread loaf with uneven edges using the right arm and move it to the hefty black skillet", + "Place the bread loaf with uneven edges from the table into the gray pan", + "Put the cuboid bread into the hefty black skillet after grabbing it", + "Use the right arm to grab the bread block with light patches and set it in the smooth cast iron skillet.", + "Pick up the cuboid bread with the right arm and drop it in the hefty black skillet", + "Use the right arm to stick the golden bread into the smooth round cooking skillet.", + "Pick up the hand-sized bread block and place it in the gray cooking pan with handle.", + "Take the bread block with light patches and drop it into the dark gray skillet.", + "Use the right arm to place the golden bread loaf into the round skillet with handle", + "Take the soft bread with the right arm and drop into the skillet for cooking", + "Pick up the bread with rough texture and put it in the gray cooking pan with handle", + "Use the right arm to pick the golden bread loaf for the medium round cast iron skillet", + "Pick the bread loaf with bumpy surface and transfer it to the rounded skillet with a holey handle", + "Pick the light golden brown bread up using the right arm and drop it in the smooth round cooking skillet.", + "Set the golden bread into the smooth cast iron skillet after grabbing", + "Use the right arm to take the cuboid bread and move it into the gray cooking pan with handle.", + "Use the right arm to pick the cuboid bread and place it into the smooth cast iron skillet.", + "Grab the doughy and soft bread using the right arm and place it in the dark gray skillet", + "Put the bread with rough texture into the rounded skillet with a holey handle.", + "Take the bread loaf with uneven edges and put it in the smooth cast iron skillet.", + "Take the bread loaf with bumpy surface and place it inside the medium round cast iron skillet", + "Take the bread with rough texture and put it in the gray pan.", + "Pick the bread loaf with bumpy surface off the table and place it in the medium round cast iron skillet.", + "Use the right arm to grab the bread with rough texture for the pan with dark finish", + "Transfer the hand-sized bread block into the medium skillet from the table", + "Grab the bread block with light patches and stick it in the gray cooking pan with handle.", + "Pick the light golden brown bread and set it into the hefty black skillet.", + "Take the doughy and soft bread and set it into the smooth cast iron skillet", + "Take the bread block with light patches off the table into the gray pan", + "Grab the bread loaf with bumpy surface from the table and set it in the gray pan.", + "Take the cuboid bread and place it inside the medium round cast iron skillet", + "Grab the cuboid bread and drop it into the round skillet with handle", + "Place the square-shaped bread into the round skillet with handle with the right arm.", + "Move the bread block with light patches from table into the gray pan", + "Lift the doughy and soft bread and drop it into the smooth cast iron skillet.", + "Use the right arm to move the golden bread loaf into the dark gray skillet", + "Move the light golden brown bread into the hefty black skillet from the table", + "Place the bread loaf with bumpy surface into the rounded skillet with a holey handle using the right arm", + "Use the right arm to pick the bread loaf with uneven edges up for the gray cooking pan with handle", + "Pick the cuboid bread with the right arm and set it in the hefty black skillet" + ], + "unseen": [ + "Grab the bread with golden crust and place it in the dark gray round cast iron pan", + "Pick up the bread with golden crust and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the rectangular bread loaf to the blackish-gray cast iron skillet.", + "Grab the bread with golden crust and drop it into the cooking skillet with grippy handle.", + "Take the bread loaf with soft surface and put it in the dark gray round cast iron pan", + "Use the right arm to grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Move the bread with golden crust to the cooking skillet with grippy handle using the right arm.", + "Grab the rectangular bread loaf and place it into the blackish-gray cast iron skillet.", + "Pick the bread with golden crust up and place it in the dark gray round cast iron pan", + "Grab the bread with golden crust and place it in the blackish-gray cast iron skillet", + "Pick up the bread with golden crust and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the rectangular bread loaf to the cooking skillet with grippy handle.", + "Grab the bread with golden crust and drop it into the dark gray round cast iron pan.", + "Take the bread with golden crust and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Move the rectangular bread loaf to the cooking skillet with grippy handle using the right arm.", + "Grab the bread with golden crust and place it into the blackish-gray cast iron skillet.", + "Pick the bread loaf with soft surface up and place it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and place it in the dark gray round cast iron pan", + "Pick up the rectangular bread loaf and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the bread with golden crust to the dark gray round cast iron pan.", + "Grab the bread loaf with soft surface and drop it into the cooking skillet with grippy handle.", + "Take the rectangular bread loaf and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Move the bread loaf with soft surface to the cooking skillet with grippy handle using the right arm.", + "Grab the bread with golden crust and place it into the dark gray round cast iron pan.", + "Pick the rectangular bread loaf up and place it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and place it in the blackish-gray cast iron skillet", + "Pick up the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet", + "Use the right arm to move the bread with golden crust to the cooking skillet with grippy handle.", + "Grab the bread with golden crust and drop it into the blackish-gray cast iron skillet.", + "Take the bread with golden crust and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Move the rectangular bread loaf to the dark gray round cast iron pan using the right arm.", + "Grab the bread loaf with soft surface and place it into the dark gray round cast iron pan.", + "Pick the rectangular bread loaf up and place it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and place it in the blackish-gray cast iron skillet", + "Pick up the rectangular bread loaf and drop it into the blackish-gray cast iron skillet", + "Use the right arm to move the bread with golden crust to the cooking skillet with grippy handle.", + "Grab the rectangular bread loaf and drop it into the blackish-gray cast iron skillet.", + "Take the bread loaf with soft surface and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Move the bread with golden crust to the dark gray round cast iron pan using the right arm.", + "Grab the bread loaf with soft surface and place it into the cooking skillet with grippy handle.", + "Pick the bread loaf with soft surface up and place it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and place it in the blackish-gray cast iron skillet", + "Pick up the rectangular bread loaf and drop it into the blackish-gray cast iron skillet", + "Use the right arm to move the bread with golden crust to the blackish-gray cast iron skillet.", + "Grab the bread loaf with soft surface and drop it into the dark gray round cast iron pan.", + "Take the rectangular bread loaf and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Move the bread with golden crust to the cooking skillet with grippy handle using the right arm.", + "Grab the rectangular bread loaf and place it into the blackish-gray cast iron skillet.", + "Pick the bread with golden crust up and place it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and place it in the dark gray round cast iron pan", + "Pick up the bread with golden crust and drop it into the blackish-gray cast iron skillet", + "Use the right arm to move the bread loaf with soft surface to the dark gray round cast iron pan.", + "Grab the bread with golden crust and drop it into the blackish-gray cast iron skillet.", + "Take the bread with golden crust and put it in the dark gray round cast iron pan", + "Use the right arm to grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Move the bread loaf with soft surface to the dark gray round cast iron pan using the right arm.", + "Grab the bread loaf with soft surface and place it into the cooking skillet with grippy handle.", + "Pick the bread loaf with soft surface up and place it in the dark gray round cast iron pan", + "Grab the bread with golden crust and place it in the blackish-gray cast iron skillet", + "Pick up the bread with golden crust and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the rectangular bread loaf to the dark gray round cast iron pan.", + "Grab the rectangular bread loaf and drop it into the cooking skillet with grippy handle.", + "Take the bread loaf with soft surface and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Move the bread with golden crust to the dark gray round cast iron pan using the right arm.", + "Grab the bread loaf with soft surface and place it into the cooking skillet with grippy handle.", + "Pick the rectangular bread loaf up and place it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and place it in the blackish-gray cast iron skillet", + "Pick up the bread with golden crust and drop it into the blackish-gray cast iron skillet", + "Use the right arm to move the bread loaf with soft surface to the blackish-gray cast iron skillet.", + "Grab the bread with golden crust and drop it into the dark gray round cast iron pan.", + "Take the bread with golden crust and put it in the cooking skillet with grippy handle", + "Use the right arm to grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Move the bread with golden crust to the cooking skillet with grippy handle using the right arm.", + "Grab the rectangular bread loaf and place it into the cooking skillet with grippy handle.", + "Pick the rectangular bread loaf up and place it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and place it in the dark gray round cast iron pan", + "Pick up the bread loaf with soft surface and drop it into the dark gray round cast iron pan", + "Use the right arm to move the bread with golden crust to the cooking skillet with grippy handle.", + "Grab the bread loaf with soft surface and drop it into the dark gray round cast iron pan.", + "Take the bread with golden crust and put it in the blackish-gray cast iron skillet", + "Use the right arm to grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Move the bread with golden crust to the cooking skillet with grippy handle using the right arm.", + "Grab the rectangular bread loaf and place it into the blackish-gray cast iron skillet.", + "Pick the rectangular bread loaf up and place it in the dark gray round cast iron pan" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode41.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode41.json new file mode 100644 index 0000000000000000000000000000000000000000..2b125e33c2ad32ba927b8c7b6999d63d4ed79436 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode41.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to pick the square-shaped bread up for the gray skillet for stovetop cooking", + "Move the golden bread to the metal skillet using the left arm", + "Set the golden bread into the black-surfaced skillet with gray sides after grabbing", + "Grab the light golden brown bread with the left arm and place in the gray skillet for stovetop cooking", + "Grab the bread loaf with bumpy surface using the left arm and place it in the gray skillet for stovetop cooking", + "Grab the bread loaf with bumpy surface and place it inside the metal skillet.", + "Put the cuboid bread into the skillet for frying food after grabbing it", + "Take the bread loaf with uneven edges and put it in the gray skillet for stovetop cooking.", + "Pick the doughy and soft bread with the left arm and set it in the gray skillet for stovetop cooking", + "Lift the golden bread loaf and drop it into the metal skillet.", + "Lift the bread with rough texture using the left arm and move it to the metal skillet", + "Move the bread block with light patches from table into the round skillet with handle", + "Place the soft bread from the table into the smooth non-stick skillet", + "Put the doughy and soft bread into the dark gray skillet.", + "Use the left arm to move the hand-sized bread block into the metal skillet with comfortable grip", + "Take the cuboid bread and set it into the metal skillet with comfortable grip", + "Transfer the cuboid bread into the round skillet with handle from the table", + "Grab the golden bread and stick it in the medium-sized frying skillet.", + "Take the cuboid bread and drop it into the medium-sized frying skillet.", + "Pick the soft bread off the table and place it in the round skillet with open handle end.", + "Use the left arm to move the golden bread and set it into the skillet for frying food.", + "Pick the bread loaf with uneven edges and transfer it to the gray skillet for stovetop cooking", + "Grab the bread loaf with bumpy surface and place it inside the flat-bottom skillet", + "Take the bread with rough texture and place it inside the smooth non-stick skillet", + "Pick the bread with rough texture and set it into the skillet with black cooking surface.", + "Pick the soft bread up using the left arm and drop it in the metal skillet.", + "Grab the soft bread from the table and set it in the metal skillet with comfortable grip.", + "Use the left arm to lift the soft bread and place it into the flat-bottom skillet.", + "Grab the golden bread and drop it into the metal skillet", + "Use the left arm to pick the bread block with light patches for the metal skillet with comfortable grip", + "Place the golden bread into the metal skillet with comfortable grip with the left arm.", + "Lift the bread with rough texture and drop it into the round skillet with open handle end", + "Use the left arm to grab the light golden brown bread for the round skillet with handle", + "Place the cuboid bread into the metal skillet with comfortable grip using the left arm", + "Take the bread with rough texture and place it inside the metal skillet", + "Use the left arm to set the doughy and soft bread into the dark gray skillet.", + "Use the left arm to pick the golden bread and put it in the metal skillet with comfortable grip", + "Use the left arm to grab the bread block with light patches for the flat-bottom skillet", + "Pick up the golden bread loaf with the left arm and drop it in the dark gray skillet", + "Use the left arm to place the soft bread into the metal skillet", + "Take the bread loaf with uneven edges with the left arm and drop into the dark gray skillet", + "Use the left arm to take the doughy and soft bread and move it into the medium-sized frying skillet.", + "Take the bread with rough texture and put it in the dark gray skillet.", + "Pick up the bread loaf with bumpy surface and place it in the dark gray skillet.", + "Take the hand-sized bread block off the table into the gray skillet for stovetop cooking", + "Use the left arm to stick the doughy and soft bread into the flat-bottom skillet.", + "Move the bread with rough texture into the black-surfaced skillet with gray sides from the table", + "Pick up the cuboid bread and put it in the gray skillet for stovetop cooking", + "Use the left arm to pick the golden bread and place it into the skillet for frying food.", + "Use the left arm to grab the golden bread loaf and set it in the gray skillet for stovetop cooking.", + "Use the left arm to pick the square-shaped bread up for the skillet with black cooking surface", + "Move the golden bread loaf to the metal skillet using the left arm", + "Set the bread loaf with uneven edges into the round skillet with open handle end after grabbing", + "Grab the light golden brown bread with the left arm and place in the round skillet with handle", + "Grab the bread loaf with bumpy surface using the left arm and place it in the gray skillet for stovetop cooking", + "Grab the bread with rough texture and place it inside the black-surfaced skillet with gray sides.", + "Put the golden bread into the round skillet with open handle end after grabbing it", + "Take the bread loaf with bumpy surface and put it in the round skillet with handle.", + "Pick the cuboid bread with the left arm and set it in the medium-sized frying skillet", + "Lift the bread block with light patches and drop it into the medium-sized frying skillet.", + "Lift the golden bread loaf using the left arm and move it to the skillet with black cooking surface", + "Move the golden bread from table into the skillet for frying food", + "Place the golden bread loaf from the table into the round skillet with handle", + "Put the light golden brown bread into the gray skillet for stovetop cooking.", + "Use the left arm to move the golden bread loaf into the black-surfaced skillet with gray sides", + "Take the hand-sized bread block and set it into the gray skillet for stovetop cooking", + "Transfer the square-shaped bread into the black-surfaced skillet with gray sides from the table", + "Grab the soft bread and stick it in the round skillet with handle.", + "Take the bread with rough texture and drop it into the smooth non-stick skillet.", + "Pick the bread loaf with bumpy surface off the table and place it in the medium-sized frying skillet.", + "Use the left arm to move the golden bread loaf and set it into the medium-sized frying skillet.", + "Pick the doughy and soft bread and transfer it to the gray skillet for stovetop cooking", + "Grab the light golden brown bread and place it inside the dark gray skillet", + "Take the soft bread and place it inside the gray skillet for stovetop cooking", + "Pick the bread loaf with bumpy surface and set it into the flat-bottom skillet.", + "Pick the bread loaf with bumpy surface up using the left arm and drop it in the metal skillet.", + "Grab the bread block with light patches from the table and set it in the skillet for frying food.", + "Use the left arm to lift the bread with rough texture and place it into the metal skillet.", + "Grab the bread block with light patches and drop it into the round skillet with handle", + "Use the left arm to pick the bread block with light patches for the round skillet with open handle end", + "Place the doughy and soft bread into the skillet for frying food with the left arm.", + "Lift the soft bread and drop it into the metal skillet", + "Use the left arm to grab the bread loaf with uneven edges for the flat-bottom skillet", + "Place the bread loaf with bumpy surface into the smooth non-stick skillet using the left arm", + "Take the bread block with light patches and place it inside the black-surfaced skillet with gray sides", + "Use the left arm to set the bread with rough texture into the smooth non-stick skillet.", + "Use the left arm to pick the square-shaped bread and put it in the metal skillet", + "Use the left arm to grab the bread loaf with bumpy surface for the medium-sized frying skillet", + "Pick up the cuboid bread with the left arm and drop it in the metal skillet with comfortable grip", + "Use the left arm to place the bread loaf with uneven edges into the medium-sized frying skillet", + "Take the cuboid bread with the left arm and drop into the metal skillet with comfortable grip", + "Use the left arm to take the golden bread loaf and move it into the gray skillet for stovetop cooking.", + "Take the soft bread and put it in the metal skillet with comfortable grip.", + "Pick up the bread with rough texture and place it in the skillet with black cooking surface.", + "Take the soft bread off the table into the skillet with black cooking surface", + "Use the left arm to stick the cuboid bread into the smooth non-stick skillet.", + "Move the doughy and soft bread into the round skillet with handle from the table", + "Pick up the doughy and soft bread and put it in the black-surfaced skillet with gray sides", + "Use the left arm to pick the bread loaf with bumpy surface and place it into the skillet for frying food.", + "Use the left arm to grab the soft bread and set it in the medium-sized frying skillet." + ], + "unseen": [ + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the left arm.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Use the left arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the left arm.", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the left arm.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it in the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the left arm.", + "Grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Use the left arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the left arm.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Use the left arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Move the bread with golden crust to the dark skillet with shiny finish using the left arm.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Use the left arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the left arm.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the rectangular bread loaf to the pan-shaped skillet with hole in handle.", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Move the rectangular bread loaf to the versatile skillet for frying and sauteing using the left arm.", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode42.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode42.json new file mode 100644 index 0000000000000000000000000000000000000000..9af0f4b179c36e57980740b64a72a4501fe26c0a --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode42.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to move the sponge-textured golden bread and set it into the skillet with black cooking surface.", + "Lift the fluffy baked bread and drop it into the metal skillet with comfortable grip.", + "Use the right arm to grab the square-shaped bread piece for the metal skillet", + "Lift the rounded square loaf using the right arm and move it to the gray skillet for stovetop cooking", + "Move the light brown porous bread into the gray skillet for stovetop cooking from the table", + "Use the right arm to lift the rounded square loaf and place it into the smooth non-stick skillet.", + "Grab the sponge-textured golden bread and place it inside the gray skillet for stovetop cooking.", + "Move the fluffy baked bread to the medium-sized frying skillet using the right arm", + "Put the light brown porous bread into the round skillet with open handle end after grabbing it", + "Pick the medium-sized bread piece and transfer it to the medium-sized frying skillet", + "Use the right arm to grab the medium bread with rounded sides for the round skillet with open handle end", + "Move the golden baked bread from table into the metal skillet with comfortable grip", + "Pick the medium bread with rounded sides up using the right arm and drop it in the smooth non-stick skillet.", + "Grab the bread with rounded edges and drop it into the flat-bottom skillet", + "Use the right arm to stick the bread with soft texture into the black-surfaced skillet with gray sides.", + "Place the rounded square loaf into the metal skillet using the right arm", + "Take the soft square bread and put it in the metal skillet.", + "Pick the bread with soft texture and set it into the medium-sized frying skillet.", + "Pick the medium-sized bread piece with the right arm and set it in the smooth non-stick skillet", + "Take the soft square bread and place it inside the flat-bottom skillet", + "Take the light brown porous bread and place it inside the flat-bottom skillet", + "Grab the medium-sized bread piece and place it inside the metal skillet", + "Use the right arm to grab the medium-sized bread piece and set it in the flat-bottom skillet.", + "Take the rounded square loaf with the right arm and drop into the skillet with black cooking surface", + "Grab the golden baked bread using the right arm and place it in the flat-bottom skillet", + "Use the right arm to pick the golden baked bread and put it in the metal skillet with comfortable grip", + "Use the right arm to pick the fluffy baked bread up for the skillet with black cooking surface", + "Use the right arm to set the rounded square loaf into the metal skillet.", + "Use the right arm to take the fluffy baked bread and move it into the flat-bottom skillet.", + "Take the bread with soft texture and put it in the round skillet with handle.", + "Put the soft square bread into the skillet with black cooking surface.", + "Take the bread with soft texture and set it into the dark gray skillet", + "Pick the bread with rounded edges off the table and place it in the skillet for frying food.", + "Use the right arm to pick the bread with rounded edges and place it into the dark gray skillet.", + "Transfer the rounded square loaf into the black-surfaced skillet with gray sides from the table", + "Pick up the fluffy baked bread and put it in the metal skillet", + "Take the bread with rounded edges and drop it into the medium-sized frying skillet.", + "Use the right arm to move the sponge-textured golden bread into the round skillet with open handle end", + "Place the square-shaped bread piece into the flat-bottom skillet with the right arm.", + "Set the medium-sized bread piece into the medium-sized frying skillet after grabbing", + "Use the right arm to pick the bread with soft texture for the metal skillet", + "Lift the bread with soft texture and drop it into the dark gray skillet", + "Grab the medium-sized bread piece from the table and set it in the round skillet with handle.", + "Take the bread with soft texture off the table into the medium-sized frying skillet", + "Pick up the square-shaped bread piece with the right arm and drop it in the skillet with black cooking surface", + "Grab the square-shaped bread piece and stick it in the gray skillet for stovetop cooking.", + "Pick up the light brown porous bread and place it in the skillet with black cooking surface.", + "Place the golden baked bread from the table into the round skillet with open handle end", + "Use the right arm to place the golden brown bread into the skillet with black cooking surface", + "Grab the fluffy baked bread with the right arm and place in the dark gray skillet", + "Use the right arm to move the sponge-textured golden bread and set it into the dark gray skillet.", + "Lift the light brown porous bread and drop it into the smooth non-stick skillet.", + "Use the right arm to grab the bread with soft texture for the smooth non-stick skillet", + "Lift the fluffy baked bread using the right arm and move it to the dark gray skillet", + "Move the bread with rounded edges into the flat-bottom skillet from the table", + "Use the right arm to lift the bread with rounded edges and place it into the round skillet with open handle end.", + "Grab the square-shaped bread piece and place it inside the skillet for frying food.", + "Move the medium-sized bread piece to the gray skillet for stovetop cooking using the right arm", + "Put the medium-sized bread piece into the skillet with black cooking surface after grabbing it", + "Pick the bread with soft texture and transfer it to the smooth non-stick skillet", + "Use the right arm to grab the medium-sized bread piece for the round skillet with handle", + "Move the fluffy baked bread from table into the medium-sized frying skillet", + "Pick the bread with rounded edges up using the right arm and drop it in the skillet for frying food.", + "Grab the sponge-textured golden bread and drop it into the skillet with black cooking surface", + "Use the right arm to stick the rounded square loaf into the metal skillet.", + "Place the light brown porous bread into the smooth non-stick skillet using the right arm", + "Take the square-shaped bread piece and put it in the dark gray skillet.", + "Pick the bread with soft texture and set it into the metal skillet.", + "Pick the golden baked bread with the right arm and set it in the smooth non-stick skillet", + "Take the golden baked bread and place it inside the skillet with black cooking surface", + "Take the rounded square loaf and place it inside the metal skillet", + "Grab the medium-sized bread piece and place it inside the gray skillet for stovetop cooking", + "Use the right arm to grab the golden brown bread and set it in the dark gray skillet.", + "Take the rounded square loaf with the right arm and drop into the black-surfaced skillet with gray sides", + "Grab the medium bread with rounded sides using the right arm and place it in the smooth non-stick skillet", + "Use the right arm to pick the bread with soft texture and put it in the black-surfaced skillet with gray sides", + "Use the right arm to pick the rounded square loaf up for the dark gray skillet", + "Use the right arm to set the rounded square loaf into the skillet with black cooking surface.", + "Use the right arm to take the light brown porous bread and move it into the medium-sized frying skillet.", + "Take the sponge-textured golden bread and put it in the gray skillet for stovetop cooking.", + "Put the fluffy baked bread into the medium-sized frying skillet.", + "Take the medium-sized bread piece and set it into the dark gray skillet", + "Pick the fluffy baked bread off the table and place it in the gray skillet for stovetop cooking.", + "Use the right arm to pick the square-shaped bread piece and place it into the gray skillet for stovetop cooking.", + "Transfer the medium bread with rounded sides into the skillet for frying food from the table", + "Pick up the square-shaped bread piece and put it in the dark gray skillet", + "Take the golden brown bread and drop it into the black-surfaced skillet with gray sides.", + "Use the right arm to move the square-shaped bread piece into the medium-sized frying skillet", + "Place the square-shaped bread piece into the round skillet with open handle end with the right arm.", + "Set the light brown porous bread into the flat-bottom skillet after grabbing", + "Use the right arm to pick the medium bread with rounded sides for the flat-bottom skillet", + "Lift the light brown porous bread and drop it into the metal skillet with comfortable grip", + "Grab the bread with rounded edges from the table and set it in the medium-sized frying skillet.", + "Take the bread with soft texture off the table into the skillet for frying food", + "Pick up the sponge-textured golden bread with the right arm and drop it in the black-surfaced skillet with gray sides", + "Grab the medium-sized bread piece and stick it in the round skillet with handle.", + "Pick up the golden brown bread and place it in the skillet with black cooking surface.", + "Place the light brown porous bread from the table into the medium-sized frying skillet", + "Use the right arm to place the soft square bread into the black-surfaced skillet with gray sides", + "Grab the square-shaped bread piece with the right arm and place in the flat-bottom skillet" + ], + "unseen": [ + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Grab the soft bread with golden edges and drop it into the dark skillet with shiny finish.", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Move the spongy golden brown bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Use the right arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it into the versatile skillet for frying and sauteing.", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Grab the square bread with light spots and drop it into the versatile skillet for frying and sauteing.", + "Take the soft bread with golden edges and put it in the pan-shaped skillet with hole in handle", + "Move the soft bread with golden edges to the dark skillet with shiny finish using the right arm.", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Pick the soft bread with golden edges up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the soft bread with golden edges to the dark skillet with shiny finish.", + "Use the right arm to grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Pick up the square bread with light spots and drop it into the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Take the soft bread with golden edges and put it in the versatile skillet for frying and sauteing", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the right arm.", + "Grab the square bread with light spots and place it in the pan-shaped skillet with hole in handle", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Move the spongy golden brown bread to the versatile skillet for frying and sauteing using the right arm.", + "Grab the square bread with light spots and place it in the pan-shaped skillet with hole in handle", + "Pick the square bread with light spots up and place it in the dark skillet with shiny finish", + "Use the right arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Move the square bread with light spots to the versatile skillet for frying and sauteing using the right arm.", + "Grab the spongy golden brown bread and place it in the pan-shaped skillet with hole in handle", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Pick up the square bread with light spots and drop it into the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Take the spongy golden brown bread and put it in the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the dark skillet with shiny finish using the right arm.", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Pick the square bread with light spots up and place it in the dark skillet with shiny finish", + "Use the right arm to move the spongy golden brown bread to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and set it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the soft bread with golden edges and drop it into the dark skillet with shiny finish", + "Grab the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing.", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Move the soft bread with golden edges to the dark skillet with shiny finish using the right arm.", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Use the right arm to move the square bread with light spots to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the square bread with light spots and drop it into the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing.", + "Take the soft bread with golden edges and put it in the pan-shaped skillet with hole in handle", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Pick the square bread with light spots up and place it in the dark skillet with shiny finish", + "Use the right arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Use the right arm to grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and place it into the versatile skillet for frying and sauteing.", + "Pick up the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Take the spongy golden brown bread and put it in the pan-shaped skillet with hole in handle", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Use the right arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Use the right arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Take the spongy golden brown bread and put it in the dark skillet with shiny finish", + "Move the square bread with light spots to the versatile skillet for frying and sauteing using the right arm.", + "Grab the spongy golden brown bread and place it in the pan-shaped skillet with hole in handle", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Use the right arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Use the right arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode43.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode43.json new file mode 100644 index 0000000000000000000000000000000000000000..8e053b8de8efa1c3f07c2efc2b4e67e95227959e --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode43.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to grab the light brown bread with ridges for the skillet for cooking", + "Use the right arm to pick the smooth loaf with rounded edges and place it into the medium skillet.", + "Pick the small golden brown bread and set it into the medium round cast iron skillet.", + "Pick the bread with split top with the right arm and set it in the gray pan", + "Move the light brown bread with ridges into the medium skillet from the table", + "Take the soft brown bread off the table into the gray pan", + "Use the right arm to take the bread with warm golden color and move it into the gray cooking pan with handle.", + "Place the bread with split top into the rounded skillet with a holey handle using the right arm", + "Use the right arm to place the hand-sized oval loaf into the smooth cast iron skillet", + "Use the right arm to grab the smooth loaf with rounded edges for the skillet for cooking", + "Pick up the brown loaf with the right arm and drop it in the rounded skillet with a holey handle", + "Take the small loaf with curved top and place it inside the dark gray skillet", + "Take the hand-sized oval loaf and put it in the pan with dark finish.", + "Grab the light brown bread with ridges and drop it into the dark gray skillet", + "Take the golden bread loaf and drop it into the round skillet with handle.", + "Lift the soft brown bread and drop it into the hefty black skillet", + "Use the right arm to pick the hand-sized oval loaf up for the medium round cast iron skillet", + "Pick up the light brown loaf with smooth sides and put it in the smooth cast iron skillet", + "Move the hand-sized oval loaf to the gray cooking pan with handle using the right arm", + "Use the right arm to move the light brown loaf with smooth sides into the rounded skillet with a holey handle", + "Use the right arm to pick the light brown loaf with smooth sides for the skillet for cooking", + "Put the small loaf with curved top into the hefty black skillet after grabbing it", + "Grab the golden bread loaf from the table and set it in the dark gray skillet.", + "Take the bread with golden-brown crust and put it in the smooth cast iron skillet.", + "Take the light brown bread with ridges and place it inside the round skillet with handle", + "Pick the small loaf with curved top off the table and place it in the skillet for cooking.", + "Use the right arm to set the golden bread loaf into the medium skillet.", + "Lift the small loaf with curved top using the right arm and move it to the hefty black skillet", + "Grab the brown loaf and stick it in the round skillet with handle.", + "Lift the golden bread loaf and drop it into the dark gray skillet.", + "Take the bread with golden-brown crust with the right arm and drop into the smooth round cooking skillet", + "Put the brown loaf into the medium round cast iron skillet.", + "Use the right arm to pick the brown loaf and put it in the pan with dark finish", + "Move the golden bread loaf from table into the gray pan", + "Grab the soft brown bread and place it inside the pan with dark finish", + "Pick up the light brown loaf with smooth sides and place it in the skillet for cooking.", + "Use the right arm to stick the golden bread loaf into the pan with dark finish.", + "Pick the hand-sized oval loaf and transfer it to the smooth round cooking skillet", + "Place the bread with split top from the table into the smooth round cooking skillet", + "Transfer the light brown loaf with smooth sides into the dark gray skillet from the table", + "Use the right arm to move the light brown bread with ridges and set it into the smooth round cooking skillet.", + "Use the right arm to grab the brown loaf and set it in the smooth round cooking skillet.", + "Pick the small golden brown bread up using the right arm and drop it in the pan with dark finish.", + "Grab the soft brown bread and place it inside the round skillet with handle.", + "Take the bread with split top and set it into the hefty black skillet", + "Place the brown loaf into the smooth cast iron skillet with the right arm.", + "Use the right arm to lift the soft brown bread and place it into the rounded skillet with a holey handle.", + "Grab the bread with golden-brown crust using the right arm and place it in the pan with dark finish", + "Grab the light brown bread with ridges with the right arm and place in the gray cooking pan with handle", + "Set the light brown bread with ridges into the gray cooking pan with handle after grabbing", + "Use the right arm to grab the brown loaf for the skillet for cooking", + "Use the right arm to pick the small loaf with curved top and place it into the gray cooking pan with handle.", + "Pick the bread with warm golden color and set it into the rounded skillet with a holey handle.", + "Pick the small loaf with curved top with the right arm and set it in the smooth cast iron skillet", + "Move the smooth loaf with rounded edges into the skillet for cooking from the table", + "Take the brown loaf off the table into the skillet for cooking", + "Use the right arm to take the brown loaf and move it into the gray cooking pan with handle.", + "Place the small golden brown bread into the round skillet with handle using the right arm", + "Use the right arm to place the smooth loaf with rounded edges into the pan with dark finish", + "Use the right arm to grab the hand-sized oval loaf for the rounded skillet with a holey handle", + "Pick up the small loaf with curved top with the right arm and drop it in the smooth cast iron skillet", + "Take the smooth loaf with rounded edges and place it inside the round skillet with handle", + "Take the brown loaf and put it in the gray cooking pan with handle.", + "Grab the bread with split top and drop it into the gray pan", + "Take the smooth loaf with rounded edges and drop it into the round skillet with handle.", + "Lift the golden bread loaf and drop it into the skillet for cooking", + "Use the right arm to pick the soft brown bread up for the pan with dark finish", + "Pick up the light brown loaf with smooth sides and put it in the round skillet with handle", + "Move the small golden brown bread to the pan with dark finish using the right arm", + "Use the right arm to move the bread with split top into the gray pan", + "Use the right arm to pick the smooth loaf with rounded edges for the gray pan", + "Put the smooth loaf with rounded edges into the pan with dark finish after grabbing it", + "Grab the smooth loaf with rounded edges from the table and set it in the rounded skillet with a holey handle.", + "Take the small golden brown bread and put it in the smooth cast iron skillet.", + "Take the hand-sized oval loaf and place it inside the dark gray skillet", + "Pick the brown loaf off the table and place it in the dark gray skillet.", + "Use the right arm to set the golden bread loaf into the rounded skillet with a holey handle.", + "Lift the golden bread loaf using the right arm and move it to the smooth cast iron skillet", + "Grab the smooth loaf with rounded edges and stick it in the skillet for cooking.", + "Lift the bread with warm golden color and drop it into the gray cooking pan with handle.", + "Take the light brown bread with ridges with the right arm and drop into the pan with dark finish", + "Put the bread with golden-brown crust into the medium skillet.", + "Use the right arm to pick the brown loaf and put it in the medium round cast iron skillet", + "Move the small golden brown bread from table into the round skillet with handle", + "Grab the light brown bread with ridges and place it inside the skillet for cooking", + "Pick up the bread with golden-brown crust and place it in the smooth cast iron skillet.", + "Use the right arm to stick the bread with golden-brown crust into the medium skillet.", + "Pick the small loaf with curved top and transfer it to the pan with dark finish", + "Place the light brown bread with ridges from the table into the round skillet with handle", + "Transfer the bread with golden-brown crust into the dark gray skillet from the table", + "Use the right arm to move the hand-sized oval loaf and set it into the smooth cast iron skillet.", + "Use the right arm to grab the light brown loaf with smooth sides and set it in the rounded skillet with a holey handle.", + "Pick the bread with golden-brown crust up using the right arm and drop it in the medium round cast iron skillet.", + "Grab the smooth loaf with rounded edges and place it inside the medium skillet.", + "Take the bread with split top and set it into the round skillet with handle", + "Place the golden bread loaf into the hefty black skillet with the right arm.", + "Use the right arm to lift the brown loaf and place it into the smooth cast iron skillet.", + "Grab the small loaf with curved top using the right arm and place it in the pan with dark finish", + "Grab the smooth loaf with rounded edges with the right arm and place in the round skillet with handle", + "Set the bread with split top into the smooth round cooking skillet after grabbing" + ], + "unseen": [ + "Move the oval bread to the cooking skillet with grippy handle using the right arm.", + "Grab the oval bread and place it in the cooking skillet with grippy handle", + "Grab the oval bread and place it into the cooking skillet with grippy handle.", + "Grab the oval bread and set it in the dark gray round cast iron pan", + "Use the right arm to grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Pick up the oval-shaped soft bread and drop it into the dark gray round cast iron pan", + "Use the right arm to move the oval bread to the cooking skillet with grippy handle.", + "Grab the oval-shaped soft bread and drop it into the dark gray round cast iron pan.", + "Pick the oval-shaped soft bread up and place it in the dark gray round cast iron pan", + "Take the rounded oval bread and put it in the blackish-gray cast iron skillet", + "Move the oval bread to the cooking skillet with grippy handle using the right arm.", + "Grab the oval bread and place it in the cooking skillet with grippy handle", + "Grab the oval bread and place it into the blackish-gray cast iron skillet.", + "Grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Use the right arm to move the rounded oval bread to the blackish-gray cast iron skillet.", + "Grab the oval-shaped soft bread and drop it into the dark gray round cast iron pan.", + "Pick the rounded oval bread up and place it in the blackish-gray cast iron skillet", + "Take the rounded oval bread and put it in the cooking skillet with grippy handle", + "Move the oval-shaped soft bread to the cooking skillet with grippy handle using the right arm.", + "Grab the oval bread and place it in the blackish-gray cast iron skillet", + "Grab the oval bread and place it into the cooking skillet with grippy handle.", + "Grab the oval bread and set it in the cooking skillet with grippy handle", + "Use the right arm to grab the oval bread and set it in the blackish-gray cast iron skillet", + "Pick up the oval-shaped soft bread and drop it into the blackish-gray cast iron skillet", + "Use the right arm to move the rounded oval bread to the cooking skillet with grippy handle.", + "Grab the oval bread and drop it into the blackish-gray cast iron skillet.", + "Pick the oval bread up and place it in the blackish-gray cast iron skillet", + "Take the rounded oval bread and put it in the blackish-gray cast iron skillet", + "Move the oval bread to the dark gray round cast iron pan using the right arm.", + "Grab the oval bread and place it in the blackish-gray cast iron skillet", + "Grab the oval bread and place it into the cooking skillet with grippy handle.", + "Grab the oval bread and set it in the dark gray round cast iron pan", + "Use the right arm to grab the rounded oval bread and set it in the dark gray round cast iron pan", + "Pick up the rounded oval bread and drop it into the blackish-gray cast iron skillet", + "Use the right arm to move the oval-shaped soft bread to the cooking skillet with grippy handle.", + "Grab the rounded oval bread and drop it into the dark gray round cast iron pan.", + "Pick the oval-shaped soft bread up and place it in the cooking skillet with grippy handle", + "Take the oval-shaped soft bread and put it in the cooking skillet with grippy handle", + "Move the rounded oval bread to the cooking skillet with grippy handle using the right arm.", + "Grab the oval-shaped soft bread and place it in the dark gray round cast iron pan", + "Grab the oval-shaped soft bread and place it into the cooking skillet with grippy handle.", + "Grab the oval bread and set it in the dark gray round cast iron pan", + "Use the right arm to grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Pick up the oval bread and drop it into the dark gray round cast iron pan", + "Use the right arm to move the rounded oval bread to the dark gray round cast iron pan.", + "Grab the rounded oval bread and drop it into the dark gray round cast iron pan.", + "Pick the oval bread up and place it in the cooking skillet with grippy handle", + "Take the oval-shaped soft bread and put it in the dark gray round cast iron pan", + "Move the oval bread to the dark gray round cast iron pan using the right arm.", + "Grab the rounded oval bread and place it in the dark gray round cast iron pan", + "Grab the rounded oval bread and place it into the cooking skillet with grippy handle.", + "Grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Use the right arm to grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Pick up the oval bread and drop it into the blackish-gray cast iron skillet", + "Use the right arm to move the oval-shaped soft bread to the cooking skillet with grippy handle.", + "Grab the oval bread and drop it into the dark gray round cast iron pan.", + "Pick the oval bread up and place it in the dark gray round cast iron pan", + "Take the oval-shaped soft bread and put it in the dark gray round cast iron pan", + "Move the rounded oval bread to the blackish-gray cast iron skillet using the right arm.", + "Grab the oval-shaped soft bread and place it in the blackish-gray cast iron skillet", + "Grab the rounded oval bread and place it into the blackish-gray cast iron skillet.", + "Grab the oval bread and set it in the blackish-gray cast iron skillet", + "Use the right arm to grab the oval-shaped soft bread and set it in the dark gray round cast iron pan", + "Pick up the oval bread and drop it into the dark gray round cast iron pan", + "Use the right arm to move the oval bread to the blackish-gray cast iron skillet.", + "Grab the rounded oval bread and drop it into the dark gray round cast iron pan.", + "Pick the oval bread up and place it in the blackish-gray cast iron skillet", + "Take the oval bread and put it in the blackish-gray cast iron skillet", + "Move the oval-shaped soft bread to the dark gray round cast iron pan using the right arm.", + "Grab the oval-shaped soft bread and place it in the blackish-gray cast iron skillet", + "Grab the oval bread and place it into the blackish-gray cast iron skillet.", + "Grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the blackish-gray cast iron skillet", + "Pick up the rounded oval bread and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the oval bread to the blackish-gray cast iron skillet.", + "Grab the oval bread and drop it into the dark gray round cast iron pan.", + "Pick the rounded oval bread up and place it in the blackish-gray cast iron skillet", + "Take the oval bread and put it in the blackish-gray cast iron skillet", + "Move the oval bread to the dark gray round cast iron pan using the right arm.", + "Grab the oval bread and place it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and place it into the blackish-gray cast iron skillet.", + "Grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Use the right arm to grab the rounded oval bread and set it in the cooking skillet with grippy handle", + "Pick up the oval bread and drop it into the dark gray round cast iron pan", + "Use the right arm to move the oval-shaped soft bread to the cooking skillet with grippy handle.", + "Grab the oval bread and drop it into the blackish-gray cast iron skillet.", + "Pick the oval-shaped soft bread up and place it in the cooking skillet with grippy handle", + "Take the rounded oval bread and put it in the dark gray round cast iron pan", + "Move the oval-shaped soft bread to the cooking skillet with grippy handle using the right arm.", + "Grab the oval bread and place it in the cooking skillet with grippy handle", + "Grab the oval-shaped soft bread and place it into the cooking skillet with grippy handle.", + "Grab the oval-shaped soft bread and set it in the cooking skillet with grippy handle", + "Use the right arm to grab the oval-shaped soft bread and set it in the blackish-gray cast iron skillet", + "Pick up the oval-shaped soft bread and drop it into the cooking skillet with grippy handle", + "Use the right arm to move the oval-shaped soft bread to the cooking skillet with grippy handle.", + "Grab the rounded oval bread and drop it into the dark gray round cast iron pan.", + "Pick the rounded oval bread up and place it in the cooking skillet with grippy handle", + "Take the oval-shaped soft bread and put it in the cooking skillet with grippy handle" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode44.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode44.json new file mode 100644 index 0000000000000000000000000000000000000000..0d8526da5051c580c46bec15b48767480296ae20 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode44.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick up the cuboid bread and put it in the skillet for frying food", + "Grab the bread loaf with uneven edges and stick it in the smooth non-stick skillet.", + "Grab the light golden brown bread and drop it into the flat-bottom skillet", + "Set the doughy and soft bread into the flat-bottom skillet after grabbing", + "Take the golden bread loaf and put it in the smooth non-stick skillet.", + "Grab the golden bread and place it inside the skillet with black cooking surface", + "Pick the bread with rough texture off the table and place it in the skillet with black cooking surface.", + "Lift the soft bread and drop it into the skillet for frying food", + "Pick the golden bread and transfer it to the round skillet with open handle end", + "Use the right arm to take the bread block with light patches and move it into the skillet with black cooking surface.", + "Use the right arm to grab the light golden brown bread and set it in the gray skillet for stovetop cooking.", + "Take the doughy and soft bread and place it inside the round skillet with open handle end", + "Use the right arm to pick the bread loaf with bumpy surface up for the metal skillet with comfortable grip", + "Lift the cuboid bread and drop it into the smooth non-stick skillet.", + "Put the cuboid bread into the black-surfaced skillet with gray sides.", + "Pick the light golden brown bread with the right arm and set it in the dark gray skillet", + "Use the right arm to pick the hand-sized bread block for the black-surfaced skillet with gray sides", + "Use the right arm to pick the soft bread and place it into the dark gray skillet.", + "Use the right arm to pick the cuboid bread and put it in the round skillet with handle", + "Move the cuboid bread from table into the black-surfaced skillet with gray sides", + "Take the soft bread and put it in the medium-sized frying skillet.", + "Put the golden bread into the metal skillet with comfortable grip after grabbing it", + "Grab the bread with rough texture using the right arm and place it in the round skillet with handle", + "Take the bread loaf with uneven edges and drop it into the skillet with black cooking surface.", + "Place the soft bread into the gray skillet for stovetop cooking using the right arm", + "Place the soft bread from the table into the gray skillet for stovetop cooking", + "Use the right arm to lift the cuboid bread and place it into the dark gray skillet.", + "Place the cuboid bread into the flat-bottom skillet with the right arm.", + "Move the bread with rough texture into the flat-bottom skillet from the table", + "Use the right arm to move the hand-sized bread block into the black-surfaced skillet with gray sides", + "Pick the cuboid bread and set it into the black-surfaced skillet with gray sides.", + "Take the hand-sized bread block off the table into the gray skillet for stovetop cooking", + "Use the right arm to set the soft bread into the skillet with black cooking surface.", + "Pick the bread loaf with uneven edges up using the right arm and drop it in the medium-sized frying skillet.", + "Use the right arm to grab the bread loaf with uneven edges for the metal skillet", + "Take the bread loaf with bumpy surface and set it into the skillet for frying food", + "Use the right arm to grab the doughy and soft bread for the medium-sized frying skillet", + "Grab the golden bread from the table and set it in the round skillet with open handle end.", + "Move the bread block with light patches to the round skillet with handle using the right arm", + "Lift the doughy and soft bread using the right arm and move it to the round skillet with handle", + "Grab the square-shaped bread with the right arm and place in the metal skillet with comfortable grip", + "Pick up the light golden brown bread and place it in the round skillet with handle.", + "Use the right arm to move the bread block with light patches and set it into the flat-bottom skillet.", + "Take the bread loaf with bumpy surface with the right arm and drop into the metal skillet with comfortable grip", + "Use the right arm to stick the light golden brown bread into the metal skillet with comfortable grip.", + "Transfer the bread loaf with bumpy surface into the round skillet with handle from the table", + "Grab the soft bread and place it inside the skillet with black cooking surface.", + "Use the right arm to place the bread loaf with uneven edges into the metal skillet with comfortable grip", + "Pick up the golden bread loaf with the right arm and drop it in the round skillet with handle", + "Take the bread block with light patches and place it inside the black-surfaced skillet with gray sides", + "Pick up the bread loaf with uneven edges and put it in the metal skillet", + "Grab the soft bread and stick it in the dark gray skillet.", + "Grab the golden bread loaf and drop it into the smooth non-stick skillet", + "Set the golden bread loaf into the metal skillet after grabbing", + "Take the doughy and soft bread and put it in the flat-bottom skillet.", + "Grab the square-shaped bread and place it inside the flat-bottom skillet", + "Pick the bread block with light patches off the table and place it in the dark gray skillet.", + "Lift the bread block with light patches and drop it into the flat-bottom skillet", + "Pick the cuboid bread and transfer it to the black-surfaced skillet with gray sides", + "Use the right arm to take the square-shaped bread and move it into the skillet for frying food.", + "Use the right arm to grab the light golden brown bread and set it in the flat-bottom skillet.", + "Take the soft bread and place it inside the skillet for frying food", + "Use the right arm to pick the bread block with light patches up for the metal skillet", + "Lift the golden bread and drop it into the round skillet with open handle end.", + "Put the light golden brown bread into the flat-bottom skillet.", + "Pick the square-shaped bread with the right arm and set it in the round skillet with open handle end", + "Use the right arm to pick the bread loaf with uneven edges for the round skillet with handle", + "Use the right arm to pick the bread loaf with bumpy surface and place it into the black-surfaced skillet with gray sides.", + "Use the right arm to pick the hand-sized bread block and put it in the black-surfaced skillet with gray sides", + "Move the bread loaf with uneven edges from table into the gray skillet for stovetop cooking", + "Take the hand-sized bread block and put it in the metal skillet.", + "Put the cuboid bread into the metal skillet with comfortable grip after grabbing it", + "Grab the golden bread loaf using the right arm and place it in the dark gray skillet", + "Take the golden bread and drop it into the skillet for frying food.", + "Place the bread block with light patches into the skillet with black cooking surface using the right arm", + "Place the cuboid bread from the table into the metal skillet with comfortable grip", + "Use the right arm to lift the bread loaf with bumpy surface and place it into the gray skillet for stovetop cooking.", + "Place the soft bread into the flat-bottom skillet with the right arm.", + "Move the golden bread loaf into the dark gray skillet from the table", + "Use the right arm to move the bread loaf with uneven edges into the medium-sized frying skillet", + "Pick the cuboid bread and set it into the dark gray skillet.", + "Take the bread loaf with bumpy surface off the table into the medium-sized frying skillet", + "Use the right arm to set the cuboid bread into the round skillet with handle.", + "Pick the bread block with light patches up using the right arm and drop it in the skillet with black cooking surface.", + "Use the right arm to grab the hand-sized bread block for the black-surfaced skillet with gray sides", + "Take the doughy and soft bread and set it into the medium-sized frying skillet", + "Use the right arm to grab the bread block with light patches for the dark gray skillet", + "Grab the bread with rough texture from the table and set it in the smooth non-stick skillet.", + "Move the bread with rough texture to the metal skillet with comfortable grip using the right arm", + "Lift the soft bread using the right arm and move it to the round skillet with handle", + "Grab the bread with rough texture with the right arm and place in the skillet for frying food", + "Pick up the bread block with light patches and place it in the round skillet with handle.", + "Use the right arm to move the light golden brown bread and set it into the metal skillet with comfortable grip.", + "Take the bread block with light patches with the right arm and drop into the black-surfaced skillet with gray sides", + "Use the right arm to stick the golden bread loaf into the skillet for frying food.", + "Transfer the soft bread into the round skillet with handle from the table", + "Grab the golden bread and place it inside the skillet with black cooking surface.", + "Use the right arm to place the bread loaf with bumpy surface into the black-surfaced skillet with gray sides", + "Pick up the golden bread with the right arm and drop it in the skillet with black cooking surface", + "Take the bread loaf with uneven edges and place it inside the round skillet with open handle end" + ], + "unseen": [ + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Use the right arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Pick up the rectangular bread loaf and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick the bread loaf with soft surface up and place it in the dark skillet with shiny finish", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread loaf with soft surface and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Take the bread loaf with soft surface and put it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Pick up the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Move the rectangular bread loaf to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Use the right arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread with golden crust and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it in the dark skillet with shiny finish", + "Use the right arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Pick up the bread with golden crust and drop it into the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and set it in the versatile skillet for frying and sauteing", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread loaf with soft surface to the pan-shaped skillet with hole in handle.", + "Pick up the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing", + "Grab the bread with golden crust and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick the rectangular bread loaf up and place it in the pan-shaped skillet with hole in handle", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Grab the bread loaf with soft surface and place it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Pick up the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Pick the rectangular bread loaf up and place it in the dark skillet with shiny finish", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread loaf with soft surface and set it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the pan-shaped skillet with hole in handle", + "Move the bread loaf with soft surface to the dark skillet with shiny finish using the right arm.", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Use the right arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Take the bread loaf with soft surface and put it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the right arm.", + "Grab the bread with golden crust and place it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and drop it into the dark skillet with shiny finish." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode45.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode45.json new file mode 100644 index 0000000000000000000000000000000000000000..a6084ce30927cd64a208142ebeefae1db6a82682 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode45.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the rounded square loaf and set it into the solid dark-colored round pan.", + "Pick the soft square bread with the right arm and set it in the versatile skillet for stovetop cooking", + "Use the right arm to pick the fluffy baked bread up for the round cooking pan", + "Use the right arm to move the sponge-textured golden bread and set it into the black skillet with smooth base.", + "Grab the sponge-textured golden bread and stick it in the dark pan with sturdy grip.", + "Pick up the medium-sized bread piece and place it in the round pan with hole in handle.", + "Use the right arm to lift the rounded square loaf and place it into the skillet with extended grip handle.", + "Transfer the light brown porous bread into the smooth round pan made of iron from the table", + "Move the rounded square loaf to the round cooking pan using the right arm", + "Take the golden baked bread and place it inside the heavy black cooking skillet", + "Place the medium bread with rounded sides into the solid dark-colored round pan with the right arm.", + "Pick up the light brown porous bread and put it in the black skillet with smooth base", + "Use the right arm to stick the rounded square loaf into the dark pan with sturdy grip.", + "Pick the fluffy baked bread and transfer it to the versatile skillet for stovetop cooking", + "Use the right arm to place the medium-sized bread piece into the versatile skillet for stovetop cooking", + "Grab the medium bread with rounded sides and place it inside the smooth round pan made of iron.", + "Lift the medium-sized bread piece and drop it into the medium black pan with handle", + "Grab the golden brown bread and drop it into the round cooking pan", + "Use the right arm to pick the light brown porous bread and place it into the black skillet with smooth base.", + "Take the bread with rounded edges with the right arm and drop into the round cooking pan", + "Put the golden brown bread into the black pan with curved edges after grabbing it", + "Set the soft square bread into the heavy black cooking skillet after grabbing", + "Lift the medium-sized bread piece using the right arm and move it to the heavy black cooking skillet", + "Pick up the bread with soft texture with the right arm and drop it in the smooth round pan made of iron", + "Grab the bread with rounded edges and place it inside the skillet with extended grip handle", + "Use the right arm to take the medium bread with rounded sides and move it into the solid dark-colored round pan.", + "Take the golden baked bread and put it in the round pan with hole in handle.", + "Lift the bread with rounded edges and drop it into the flat-bottomed skillet with long handle.", + "Grab the rounded square loaf from the table and set it in the versatile skillet for stovetop cooking.", + "Use the right arm to move the golden baked bread into the black skillet with smooth base", + "Use the right arm to grab the rounded square loaf for the versatile skillet for stovetop cooking", + "Take the square-shaped bread piece and put it in the versatile skillet for stovetop cooking.", + "Take the bread with soft texture off the table into the round pan with hole in handle", + "Pick the fluffy baked bread up using the right arm and drop it in the round cooking pan.", + "Take the bread with soft texture and place it inside the flat-bottomed skillet with long handle", + "Take the fluffy baked bread and drop it into the dark pan with sturdy grip.", + "Move the soft square bread from table into the versatile skillet for stovetop cooking", + "Take the soft square bread and set it into the medium black pan with handle", + "Grab the soft square bread with the right arm and place in the black skillet with smooth base", + "Use the right arm to pick the rounded square loaf for the versatile skillet for stovetop cooking", + "Use the right arm to grab the medium-sized bread piece for the heavy black cooking skillet", + "Use the right arm to pick the sponge-textured golden bread and put it in the smooth round pan made of iron", + "Use the right arm to set the medium-sized bread piece into the medium black pan with handle.", + "Place the rounded square loaf from the table into the round pan with hole in handle", + "Put the rounded square loaf into the versatile skillet for stovetop cooking.", + "Place the rounded square loaf into the solid dark-colored round pan using the right arm", + "Use the right arm to grab the fluffy baked bread and set it in the solid dark-colored round pan.", + "Pick the golden brown bread off the table and place it in the round pan with hole in handle.", + "Grab the light brown porous bread using the right arm and place it in the round pan with hole in handle", + "Move the soft square bread into the round cooking pan from the table", + "Pick the light brown porous bread and set it into the flat-bottomed skillet with long handle.", + "Pick the golden baked bread with the right arm and set it in the skillet with extended grip handle", + "Use the right arm to pick the golden brown bread up for the smooth round pan made of iron", + "Use the right arm to move the bread with rounded edges and set it into the black skillet with smooth base.", + "Grab the bread with soft texture and stick it in the versatile skillet for stovetop cooking.", + "Pick up the light brown porous bread and place it in the flat-bottomed skillet with long handle.", + "Use the right arm to lift the golden brown bread and place it into the dark pan with sturdy grip.", + "Transfer the square-shaped bread piece into the skillet with extended grip handle from the table", + "Move the bread with soft texture to the skillet with extended grip handle using the right arm", + "Take the fluffy baked bread and place it inside the round cooking pan", + "Place the fluffy baked bread into the black pan with curved edges with the right arm.", + "Pick up the light brown porous bread and put it in the skillet with extended grip handle", + "Use the right arm to stick the bread with soft texture into the solid dark-colored round pan.", + "Pick the fluffy baked bread and transfer it to the dark pan with sturdy grip", + "Use the right arm to place the light brown porous bread into the dark pan with sturdy grip", + "Grab the rounded square loaf and place it inside the round pan with hole in handle.", + "Lift the golden brown bread and drop it into the round cooking pan", + "Grab the fluffy baked bread and drop it into the dark pan with sturdy grip", + "Use the right arm to pick the medium bread with rounded sides and place it into the medium black pan with handle.", + "Take the fluffy baked bread with the right arm and drop into the flat-bottomed skillet with long handle", + "Put the golden brown bread into the heavy black cooking skillet after grabbing it", + "Set the medium bread with rounded sides into the round pan with hole in handle after grabbing", + "Lift the light brown porous bread using the right arm and move it to the versatile skillet for stovetop cooking", + "Pick up the rounded square loaf with the right arm and drop it in the heavy black cooking skillet", + "Grab the medium bread with rounded sides and place it inside the solid dark-colored round pan", + "Use the right arm to take the fluffy baked bread and move it into the heavy black cooking skillet.", + "Take the rounded square loaf and put it in the round pan with hole in handle.", + "Lift the bread with rounded edges and drop it into the black pan with curved edges.", + "Grab the soft square bread from the table and set it in the heavy black cooking skillet.", + "Use the right arm to move the medium bread with rounded sides into the solid dark-colored round pan", + "Use the right arm to grab the light brown porous bread for the black pan with curved edges", + "Take the fluffy baked bread and put it in the black skillet with smooth base.", + "Take the fluffy baked bread off the table into the flat-bottomed skillet with long handle", + "Pick the soft square bread up using the right arm and drop it in the versatile skillet for stovetop cooking.", + "Take the bread with rounded edges and place it inside the round pan with hole in handle", + "Take the medium-sized bread piece and drop it into the heavy black cooking skillet.", + "Move the medium-sized bread piece from table into the skillet with extended grip handle", + "Take the golden brown bread and set it into the black skillet with smooth base", + "Grab the bread with rounded edges with the right arm and place in the round cooking pan", + "Use the right arm to pick the rounded square loaf for the flat-bottomed skillet with long handle", + "Use the right arm to grab the golden brown bread for the medium black pan with handle", + "Use the right arm to pick the sponge-textured golden bread and put it in the versatile skillet for stovetop cooking", + "Use the right arm to set the square-shaped bread piece into the black skillet with smooth base.", + "Place the soft square bread from the table into the black skillet with smooth base", + "Put the fluffy baked bread into the solid dark-colored round pan.", + "Place the bread with rounded edges into the heavy black cooking skillet using the right arm", + "Use the right arm to grab the rounded square loaf and set it in the round pan with hole in handle.", + "Pick the golden baked bread off the table and place it in the versatile skillet for stovetop cooking.", + "Grab the square-shaped bread piece using the right arm and place it in the smooth round pan made of iron", + "Move the square-shaped bread piece into the dark pan with sturdy grip from the table" + ], + "unseen": [ + "Grab the soft bread with golden edges and place it into the black skillet.", + "Use the right arm to grab the square bread with light spots and set it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it in the round cast-iron skillet", + "Grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Pick up the soft bread with golden edges and drop it into the round cast-iron skillet", + "Pick the soft bread with golden edges up and place it in the round cast-iron skillet", + "Use the right arm to move the soft bread with golden edges to the black skillet.", + "Move the square bread with light spots to the round cast-iron skillet using the right arm.", + "Take the square bread with light spots and put it in the black skillet", + "Grab the square bread with light spots and drop it into the round cast-iron skillet.", + "Grab the square bread with light spots and place it into the black skillet.", + "Use the right arm to grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Grab the square bread with light spots and place it in the black skillet", + "Grab the spongy golden brown bread and set it in the black skillet", + "Pick up the square bread with light spots and drop it into the round cast-iron skillet", + "Pick the square bread with light spots up and place it in the round cast-iron skillet", + "Use the right arm to move the spongy golden brown bread to the black skillet.", + "Move the soft bread with golden edges to the round cast-iron skillet using the right arm.", + "Take the spongy golden brown bread and put it in the black skillet", + "Grab the spongy golden brown bread and drop it into the iron skillet for frying foods.", + "Grab the soft bread with golden edges and place it into the black skillet.", + "Use the right arm to grab the square bread with light spots and set it in the black skillet", + "Grab the square bread with light spots and place it in the iron skillet for frying foods", + "Grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Pick up the square bread with light spots and drop it into the iron skillet for frying foods", + "Pick the square bread with light spots up and place it in the black skillet", + "Use the right arm to move the square bread with light spots to the black skillet.", + "Move the square bread with light spots to the black skillet using the right arm.", + "Take the spongy golden brown bread and put it in the round cast-iron skillet", + "Grab the square bread with light spots and drop it into the black skillet.", + "Grab the soft bread with golden edges and place it into the black skillet.", + "Use the right arm to grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it in the round cast-iron skillet", + "Grab the soft bread with golden edges and set it in the black skillet", + "Pick up the spongy golden brown bread and drop it into the round cast-iron skillet", + "Pick the spongy golden brown bread up and place it in the round cast-iron skillet", + "Use the right arm to move the spongy golden brown bread to the black skillet.", + "Move the soft bread with golden edges to the iron skillet for frying foods using the right arm.", + "Take the square bread with light spots and put it in the round cast-iron skillet", + "Grab the spongy golden brown bread and drop it into the round cast-iron skillet.", + "Grab the spongy golden brown bread and place it into the round cast-iron skillet.", + "Use the right arm to grab the square bread with light spots and set it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it in the iron skillet for frying foods", + "Grab the square bread with light spots and set it in the round cast-iron skillet", + "Pick up the square bread with light spots and drop it into the black skillet", + "Pick the soft bread with golden edges up and place it in the iron skillet for frying foods", + "Use the right arm to move the spongy golden brown bread to the iron skillet for frying foods.", + "Move the spongy golden brown bread to the iron skillet for frying foods using the right arm.", + "Take the spongy golden brown bread and put it in the iron skillet for frying foods", + "Grab the square bread with light spots and drop it into the black skillet.", + "Grab the square bread with light spots and place it into the iron skillet for frying foods.", + "Use the right arm to grab the square bread with light spots and set it in the black skillet", + "Grab the square bread with light spots and place it in the black skillet", + "Grab the square bread with light spots and set it in the iron skillet for frying foods", + "Pick up the soft bread with golden edges and drop it into the round cast-iron skillet", + "Pick the spongy golden brown bread up and place it in the round cast-iron skillet", + "Use the right arm to move the spongy golden brown bread to the iron skillet for frying foods.", + "Move the spongy golden brown bread to the round cast-iron skillet using the right arm.", + "Take the soft bread with golden edges and put it in the round cast-iron skillet", + "Grab the square bread with light spots and drop it into the iron skillet for frying foods.", + "Grab the square bread with light spots and place it into the round cast-iron skillet.", + "Use the right arm to grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it in the iron skillet for frying foods", + "Grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Pick up the spongy golden brown bread and drop it into the iron skillet for frying foods", + "Pick the soft bread with golden edges up and place it in the black skillet", + "Use the right arm to move the square bread with light spots to the iron skillet for frying foods.", + "Move the soft bread with golden edges to the round cast-iron skillet using the right arm.", + "Take the spongy golden brown bread and put it in the black skillet", + "Grab the square bread with light spots and drop it into the black skillet.", + "Grab the soft bread with golden edges and place it into the black skillet.", + "Use the right arm to grab the square bread with light spots and set it in the black skillet", + "Grab the spongy golden brown bread and place it in the black skillet", + "Grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Pick up the square bread with light spots and drop it into the round cast-iron skillet", + "Pick the square bread with light spots up and place it in the round cast-iron skillet", + "Use the right arm to move the soft bread with golden edges to the black skillet.", + "Move the soft bread with golden edges to the iron skillet for frying foods using the right arm.", + "Take the square bread with light spots and put it in the round cast-iron skillet", + "Grab the square bread with light spots and drop it into the black skillet.", + "Grab the spongy golden brown bread and place it into the black skillet.", + "Use the right arm to grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Grab the spongy golden brown bread and place it in the round cast-iron skillet", + "Grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Pick up the soft bread with golden edges and drop it into the iron skillet for frying foods", + "Pick the square bread with light spots up and place it in the round cast-iron skillet", + "Use the right arm to move the spongy golden brown bread to the black skillet.", + "Move the spongy golden brown bread to the iron skillet for frying foods using the right arm.", + "Take the soft bread with golden edges and put it in the iron skillet for frying foods", + "Grab the square bread with light spots and drop it into the black skillet.", + "Grab the spongy golden brown bread and place it into the iron skillet for frying foods.", + "Use the right arm to grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it in the iron skillet for frying foods", + "Grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Pick up the square bread with light spots and drop it into the round cast-iron skillet", + "Pick the soft bread with golden edges up and place it in the black skillet", + "Use the right arm to move the square bread with light spots to the iron skillet for frying foods.", + "Move the square bread with light spots to the iron skillet for frying foods using the right arm.", + "Take the spongy golden brown bread and put it in the round cast-iron skillet", + "Grab the soft bread with golden edges and drop it into the black skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode46.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode46.json new file mode 100644 index 0000000000000000000000000000000000000000..ddf35a674daef02a12a981ab999c7a9b4575ac80 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode46.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the hand-sized bread block with the left arm and place in the solid dark-colored round pan", + "Put the bread block with light patches into the flat-bottomed skillet with long handle.", + "Move the bread block with light patches into the versatile skillet for stovetop cooking from the table", + "Move the bread loaf with uneven edges from table into the black skillet with smooth base", + "Use the left arm to pick the bread block with light patches and place it into the smooth round pan made of iron.", + "Use the left arm to lift the hand-sized bread block and place it into the skillet with extended grip handle.", + "Transfer the bread loaf with bumpy surface into the dark pan with sturdy grip from the table", + "Take the bread loaf with uneven edges and place it inside the black pan with curved edges", + "Pick the golden bread loaf with the left arm and set it in the dark pan with sturdy grip", + "Use the left arm to grab the golden bread loaf and set it in the flat-bottomed skillet with long handle.", + "Pick up the bread loaf with bumpy surface and place it in the versatile skillet for stovetop cooking.", + "Use the left arm to pick the golden bread and put it in the smooth round pan made of iron", + "Pick up the square-shaped bread and put it in the solid dark-colored round pan", + "Grab the cuboid bread from the table and set it in the medium black pan with handle.", + "Use the left arm to pick the doughy and soft bread up for the black skillet with smooth base", + "Take the golden bread and put it in the solid dark-colored round pan.", + "Pick the cuboid bread and transfer it to the smooth round pan made of iron", + "Use the left arm to place the golden bread into the round cooking pan", + "Move the soft bread to the skillet with extended grip handle using the left arm", + "Pick the bread with rough texture off the table and place it in the round cooking pan.", + "Place the cuboid bread into the skillet with extended grip handle using the left arm", + "Use the left arm to take the hand-sized bread block and move it into the black skillet with smooth base.", + "Use the left arm to pick the bread loaf with bumpy surface for the skillet with extended grip handle", + "Grab the soft bread and drop it into the versatile skillet for stovetop cooking", + "Grab the bread with rough texture and place it inside the black pan with curved edges.", + "Grab the golden bread loaf and stick it in the versatile skillet for stovetop cooking.", + "Use the left arm to grab the soft bread for the versatile skillet for stovetop cooking", + "Place the cuboid bread into the heavy black cooking skillet with the left arm.", + "Take the bread block with light patches and drop it into the versatile skillet for stovetop cooking.", + "Use the left arm to set the soft bread into the round cooking pan.", + "Set the bread with rough texture into the heavy black cooking skillet after grabbing", + "Grab the bread with rough texture and place it inside the black pan with curved edges", + "Use the left arm to stick the doughy and soft bread into the dark pan with sturdy grip.", + "Take the golden bread with the left arm and drop into the medium black pan with handle", + "Take the cuboid bread off the table into the versatile skillet for stovetop cooking", + "Place the light golden brown bread from the table into the versatile skillet for stovetop cooking", + "Use the left arm to move the bread loaf with bumpy surface into the flat-bottomed skillet with long handle", + "Pick up the golden bread loaf with the left arm and drop it in the black pan with curved edges", + "Pick the hand-sized bread block and set it into the solid dark-colored round pan.", + "Lift the soft bread using the left arm and move it to the flat-bottomed skillet with long handle", + "Lift the hand-sized bread block and drop it into the flat-bottomed skillet with long handle.", + "Pick the doughy and soft bread up using the left arm and drop it in the round cooking pan.", + "Take the doughy and soft bread and place it inside the black pan with curved edges", + "Lift the cuboid bread and drop it into the dark pan with sturdy grip", + "Take the hand-sized bread block and put it in the black pan with curved edges.", + "Use the left arm to move the bread block with light patches and set it into the round cooking pan.", + "Put the hand-sized bread block into the medium black pan with handle after grabbing it", + "Take the hand-sized bread block and set it into the round cooking pan", + "Grab the bread block with light patches using the left arm and place it in the versatile skillet for stovetop cooking", + "Use the left arm to grab the soft bread for the round pan with hole in handle", + "Grab the hand-sized bread block with the left arm and place in the medium black pan with handle", + "Put the bread block with light patches into the versatile skillet for stovetop cooking.", + "Move the golden bread loaf into the medium black pan with handle from the table", + "Move the golden bread from table into the medium black pan with handle", + "Use the left arm to pick the cuboid bread and place it into the flat-bottomed skillet with long handle.", + "Use the left arm to lift the golden bread loaf and place it into the flat-bottomed skillet with long handle.", + "Transfer the hand-sized bread block into the skillet with extended grip handle from the table", + "Take the bread loaf with uneven edges and place it inside the smooth round pan made of iron", + "Pick the golden bread with the left arm and set it in the skillet with extended grip handle", + "Use the left arm to grab the cuboid bread and set it in the heavy black cooking skillet.", + "Pick up the bread with rough texture and place it in the solid dark-colored round pan.", + "Use the left arm to pick the light golden brown bread and put it in the dark pan with sturdy grip", + "Pick up the cuboid bread and put it in the versatile skillet for stovetop cooking", + "Grab the cuboid bread from the table and set it in the dark pan with sturdy grip.", + "Use the left arm to pick the square-shaped bread up for the flat-bottomed skillet with long handle", + "Take the bread loaf with uneven edges and put it in the versatile skillet for stovetop cooking.", + "Pick the bread loaf with bumpy surface and transfer it to the skillet with extended grip handle", + "Use the left arm to place the light golden brown bread into the dark pan with sturdy grip", + "Move the bread with rough texture to the round pan with hole in handle using the left arm", + "Pick the hand-sized bread block off the table and place it in the black skillet with smooth base.", + "Place the bread loaf with bumpy surface into the versatile skillet for stovetop cooking using the left arm", + "Use the left arm to take the bread block with light patches and move it into the round pan with hole in handle.", + "Use the left arm to pick the bread loaf with uneven edges for the flat-bottomed skillet with long handle", + "Grab the bread block with light patches and drop it into the dark pan with sturdy grip", + "Grab the golden bread and place it inside the flat-bottomed skillet with long handle.", + "Grab the doughy and soft bread and stick it in the dark pan with sturdy grip.", + "Use the left arm to grab the soft bread for the versatile skillet for stovetop cooking", + "Place the bread block with light patches into the versatile skillet for stovetop cooking with the left arm.", + "Take the cuboid bread and drop it into the medium black pan with handle.", + "Use the left arm to set the bread with rough texture into the dark pan with sturdy grip.", + "Set the bread with rough texture into the round cooking pan after grabbing", + "Grab the square-shaped bread and place it inside the smooth round pan made of iron", + "Use the left arm to stick the soft bread into the black skillet with smooth base.", + "Take the bread with rough texture with the left arm and drop into the round pan with hole in handle", + "Take the light golden brown bread off the table into the round pan with hole in handle", + "Place the square-shaped bread from the table into the black pan with curved edges", + "Use the left arm to move the bread loaf with bumpy surface into the black pan with curved edges", + "Pick up the golden bread loaf with the left arm and drop it in the heavy black cooking skillet", + "Pick the bread loaf with uneven edges and set it into the solid dark-colored round pan.", + "Lift the bread with rough texture using the left arm and move it to the round pan with hole in handle", + "Lift the bread loaf with uneven edges and drop it into the dark pan with sturdy grip.", + "Pick the bread loaf with bumpy surface up using the left arm and drop it in the round pan with hole in handle.", + "Take the soft bread and place it inside the round cooking pan", + "Lift the bread with rough texture and drop it into the medium black pan with handle", + "Take the golden bread loaf and put it in the round pan with hole in handle.", + "Use the left arm to move the bread loaf with bumpy surface and set it into the black pan with curved edges.", + "Put the golden bread into the round cooking pan after grabbing it", + "Take the square-shaped bread and set it into the round pan with hole in handle", + "Grab the golden bread using the left arm and place it in the medium black pan with handle", + "Use the left arm to grab the cuboid bread for the black pan with curved edges" + ], + "unseen": [ + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Use the left arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Move the bread with golden crust to the iron skillet for frying foods using the left arm.", + "Grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it in the iron skillet for frying foods", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and drop it into the black skillet.", + "Use the left arm to move the rectangular bread loaf to the round cast-iron skillet.", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Use the left arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Move the bread with golden crust to the round cast-iron skillet using the left arm.", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Grab the bread with golden crust and place it in the iron skillet for frying foods", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Take the bread loaf with soft surface and put it in the black skillet", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Use the left arm to move the rectangular bread loaf to the black skillet.", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Use the left arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Move the bread with golden crust to the round cast-iron skillet using the left arm.", + "Grab the bread with golden crust and set it in the black skillet", + "Grab the bread with golden crust and place it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the iron skillet for frying foods", + "Take the bread with golden crust and put it in the black skillet", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Use the left arm to move the rectangular bread loaf to the round cast-iron skillet.", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Use the left arm to grab the bread loaf with soft surface and set it in the black skillet", + "Move the bread loaf with soft surface to the iron skillet for frying foods using the left arm.", + "Grab the bread with golden crust and set it in the black skillet", + "Grab the rectangular bread loaf and place it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Take the bread loaf with soft surface and put it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and drop it into the round cast-iron skillet.", + "Use the left arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it into the black skillet.", + "Use the left arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Move the bread with golden crust to the iron skillet for frying foods using the left arm.", + "Grab the bread with golden crust and set it in the round cast-iron skillet", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Take the bread loaf with soft surface and put it in the round cast-iron skillet", + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Use the left arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it into the black skillet.", + "Use the left arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Move the rectangular bread loaf to the black skillet using the left arm.", + "Grab the rectangular bread loaf and set it in the black skillet", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Pick up the bread loaf with soft surface and drop it into the round cast-iron skillet", + "Take the bread loaf with soft surface and put it in the round cast-iron skillet", + "Grab the bread with golden crust and drop it into the iron skillet for frying foods.", + "Use the left arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Use the left arm to grab the rectangular bread loaf and set it in the black skillet", + "Move the bread with golden crust to the black skillet using the left arm.", + "Grab the bread loaf with soft surface and set it in the black skillet", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Take the rectangular bread loaf and put it in the black skillet", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Use the left arm to move the rectangular bread loaf to the round cast-iron skillet.", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and place it into the black skillet.", + "Use the left arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Move the bread with golden crust to the iron skillet for frying foods using the left arm.", + "Grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Pick up the bread with golden crust and drop it into the black skillet", + "Take the bread with golden crust and put it in the black skillet", + "Grab the bread with golden crust and drop it into the black skillet.", + "Use the left arm to move the bread with golden crust to the black skillet.", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Use the left arm to grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Move the bread loaf with soft surface to the round cast-iron skillet using the left arm.", + "Grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and place it in the iron skillet for frying foods", + "Pick up the bread with golden crust and drop it into the round cast-iron skillet", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Use the left arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Use the left arm to grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Move the bread with golden crust to the iron skillet for frying foods using the left arm.", + "Grab the bread with golden crust and set it in the black skillet", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Take the rectangular bread loaf and put it in the round cast-iron skillet", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Use the left arm to move the rectangular bread loaf to the iron skillet for frying foods." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode47.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode47.json new file mode 100644 index 0000000000000000000000000000000000000000..1315200d4c52252a21487e0f38c6bc303a98bd02 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode47.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the soft bread from the table and set it in the skillet for cooking.", + "Pick the golden bread with the left arm and set it in the pan with dark finish", + "Take the bread loaf with uneven edges off the table into the hefty black skillet", + "Move the golden bread from table into the round skillet with handle", + "Take the bread loaf with uneven edges and put it in the dark gray skillet.", + "Pick the hand-sized bread block and set it into the rounded skillet with a holey handle.", + "Put the bread loaf with uneven edges into the smooth cast iron skillet after grabbing it", + "Place the soft bread from the table into the smooth round cooking skillet", + "Use the left arm to set the bread with rough texture into the smooth round cooking skillet.", + "Use the left arm to grab the bread loaf with bumpy surface for the smooth cast iron skillet", + "Use the left arm to place the cuboid bread into the skillet for cooking", + "Use the left arm to take the bread with rough texture and move it into the gray pan.", + "Take the light golden brown bread and place it inside the pan with dark finish", + "Lift the light golden brown bread and drop it into the round skillet with handle.", + "Grab the golden bread loaf and place it inside the pan with dark finish", + "Use the left arm to move the cuboid bread and set it into the gray cooking pan with handle.", + "Place the bread loaf with bumpy surface into the gray pan using the left arm", + "Pick up the square-shaped bread and place it in the hefty black skillet.", + "Take the golden bread loaf and set it into the hefty black skillet", + "Take the golden bread loaf and drop it into the skillet for cooking.", + "Use the left arm to lift the golden bread and place it into the medium round cast iron skillet.", + "Pick up the bread loaf with bumpy surface with the left arm and drop it in the round skillet with handle", + "Pick the bread block with light patches up using the left arm and drop it in the skillet for cooking.", + "Grab the bread with rough texture and stick it in the dark gray skillet.", + "Use the left arm to grab the soft bread and set it in the rounded skillet with a holey handle.", + "Grab the cuboid bread with the left arm and place in the gray pan", + "Use the left arm to pick the bread with rough texture and place it into the medium round cast iron skillet.", + "Take the bread loaf with uneven edges and place it inside the hefty black skillet", + "Grab the bread with rough texture and drop it into the smooth round cooking skillet", + "Place the bread block with light patches into the smooth round cooking skillet with the left arm.", + "Use the left arm to move the cuboid bread into the rounded skillet with a holey handle", + "Pick the light golden brown bread off the table and place it in the dark gray skillet.", + "Put the doughy and soft bread into the pan with dark finish.", + "Use the left arm to grab the soft bread for the gray cooking pan with handle", + "Use the left arm to stick the bread with rough texture into the medium round cast iron skillet.", + "Transfer the soft bread into the rounded skillet with a holey handle from the table", + "Take the cuboid bread and put it in the rounded skillet with a holey handle.", + "Use the left arm to pick the soft bread for the rounded skillet with a holey handle", + "Set the golden bread into the hefty black skillet after grabbing", + "Use the left arm to pick the bread loaf with bumpy surface up for the hefty black skillet", + "Pick the hand-sized bread block and transfer it to the pan with dark finish", + "Pick up the cuboid bread and put it in the gray pan", + "Use the left arm to pick the square-shaped bread and put it in the skillet for cooking", + "Lift the golden bread using the left arm and move it to the hefty black skillet", + "Grab the soft bread using the left arm and place it in the round skillet with handle", + "Move the bread loaf with uneven edges into the medium skillet from the table", + "Move the light golden brown bread to the gray cooking pan with handle using the left arm", + "Grab the cuboid bread and place it inside the hefty black skillet.", + "Take the cuboid bread with the left arm and drop into the pan with dark finish", + "Lift the bread with rough texture and drop it into the gray cooking pan with handle", + "Grab the bread loaf with bumpy surface from the table and set it in the hefty black skillet.", + "Pick the light golden brown bread with the left arm and set it in the skillet for cooking", + "Take the bread block with light patches off the table into the smooth cast iron skillet", + "Move the bread block with light patches from table into the pan with dark finish", + "Take the hand-sized bread block and put it in the gray cooking pan with handle.", + "Pick the bread with rough texture and set it into the dark gray skillet.", + "Put the doughy and soft bread into the skillet for cooking after grabbing it", + "Place the golden bread from the table into the rounded skillet with a holey handle", + "Use the left arm to set the hand-sized bread block into the medium round cast iron skillet.", + "Use the left arm to grab the light golden brown bread for the hefty black skillet", + "Use the left arm to place the golden bread loaf into the dark gray skillet", + "Use the left arm to take the bread loaf with uneven edges and move it into the rounded skillet with a holey handle.", + "Take the doughy and soft bread and place it inside the smooth cast iron skillet", + "Lift the bread block with light patches and drop it into the gray pan.", + "Grab the soft bread and place it inside the skillet for cooking", + "Use the left arm to move the light golden brown bread and set it into the hefty black skillet.", + "Place the doughy and soft bread into the skillet for cooking using the left arm", + "Pick up the light golden brown bread and place it in the pan with dark finish.", + "Take the light golden brown bread and set it into the round skillet with handle", + "Take the bread loaf with bumpy surface and drop it into the gray pan.", + "Use the left arm to lift the light golden brown bread and place it into the gray cooking pan with handle.", + "Pick up the golden bread loaf with the left arm and drop it in the medium skillet", + "Pick the light golden brown bread up using the left arm and drop it in the dark gray skillet.", + "Grab the square-shaped bread and stick it in the smooth round cooking skillet.", + "Use the left arm to grab the bread block with light patches and set it in the pan with dark finish.", + "Grab the bread loaf with bumpy surface with the left arm and place in the round skillet with handle", + "Use the left arm to pick the square-shaped bread and place it into the smooth round cooking skillet.", + "Take the golden bread and place it inside the smooth round cooking skillet", + "Grab the golden bread and drop it into the pan with dark finish", + "Place the doughy and soft bread into the skillet for cooking with the left arm.", + "Use the left arm to move the bread block with light patches into the gray cooking pan with handle", + "Pick the golden bread loaf off the table and place it in the rounded skillet with a holey handle.", + "Put the bread block with light patches into the hefty black skillet.", + "Use the left arm to grab the golden bread for the gray pan", + "Use the left arm to stick the golden bread into the pan with dark finish.", + "Transfer the bread loaf with bumpy surface into the skillet for cooking from the table", + "Take the soft bread and put it in the skillet for cooking.", + "Use the left arm to pick the hand-sized bread block for the smooth round cooking skillet", + "Set the golden bread into the pan with dark finish after grabbing", + "Use the left arm to pick the cuboid bread up for the dark gray skillet", + "Pick the hand-sized bread block and transfer it to the pan with dark finish", + "Pick up the golden bread and put it in the gray pan", + "Use the left arm to pick the golden bread loaf and put it in the dark gray skillet", + "Lift the bread with rough texture using the left arm and move it to the round skillet with handle", + "Grab the golden bread loaf using the left arm and place it in the rounded skillet with a holey handle", + "Move the golden bread into the round skillet with handle from the table", + "Move the bread loaf with uneven edges to the dark gray skillet using the left arm", + "Grab the bread loaf with bumpy surface and place it inside the rounded skillet with a holey handle.", + "Take the golden bread with the left arm and drop into the smooth cast iron skillet", + "Lift the bread loaf with uneven edges and drop it into the round skillet with handle" + ], + "unseen": [ + "Grab the bread loaf with soft surface and set it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and place it in the cooking skillet with grippy handle", + "Pick up the bread with golden crust and drop it into the dark gray round cast iron pan", + "Take the rectangular bread loaf and put it in the blackish-gray cast iron skillet", + "Use the left arm to move the rectangular bread loaf to the blackish-gray cast iron skillet.", + "Grab the rectangular bread loaf and drop it into the blackish-gray cast iron skillet.", + "Pick the bread loaf with soft surface up and place it in the cooking skillet with grippy handle", + "Move the bread loaf with soft surface to the cooking skillet with grippy handle using the left arm.", + "Use the left arm to grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and place it into the blackish-gray cast iron skillet.", + "Grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and place it in the cooking skillet with grippy handle", + "Pick up the bread loaf with soft surface and drop it into the dark gray round cast iron pan", + "Take the rectangular bread loaf and put it in the blackish-gray cast iron skillet", + "Use the left arm to move the bread with golden crust to the cooking skillet with grippy handle.", + "Grab the rectangular bread loaf and drop it into the cooking skillet with grippy handle.", + "Pick the rectangular bread loaf up and place it in the blackish-gray cast iron skillet", + "Move the bread loaf with soft surface to the cooking skillet with grippy handle using the left arm.", + "Use the left arm to grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and place it into the cooking skillet with grippy handle.", + "Grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and place it in the cooking skillet with grippy handle", + "Pick up the bread loaf with soft surface and drop it into the dark gray round cast iron pan", + "Take the rectangular bread loaf and put it in the blackish-gray cast iron skillet", + "Use the left arm to move the rectangular bread loaf to the cooking skillet with grippy handle.", + "Grab the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet.", + "Pick the bread with golden crust up and place it in the blackish-gray cast iron skillet", + "Move the rectangular bread loaf to the dark gray round cast iron pan using the left arm.", + "Use the left arm to grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Grab the bread with golden crust and place it into the blackish-gray cast iron skillet.", + "Grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and place it in the cooking skillet with grippy handle", + "Pick up the rectangular bread loaf and drop it into the blackish-gray cast iron skillet", + "Take the bread with golden crust and put it in the blackish-gray cast iron skillet", + "Use the left arm to move the bread with golden crust to the blackish-gray cast iron skillet.", + "Grab the bread with golden crust and drop it into the dark gray round cast iron pan.", + "Pick the bread with golden crust up and place it in the cooking skillet with grippy handle", + "Move the bread loaf with soft surface to the blackish-gray cast iron skillet using the left arm.", + "Use the left arm to grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and place it into the dark gray round cast iron pan.", + "Grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and place it in the blackish-gray cast iron skillet", + "Pick up the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet", + "Take the rectangular bread loaf and put it in the dark gray round cast iron pan", + "Use the left arm to move the bread loaf with soft surface to the blackish-gray cast iron skillet.", + "Grab the rectangular bread loaf and drop it into the dark gray round cast iron pan.", + "Pick the bread with golden crust up and place it in the cooking skillet with grippy handle", + "Move the bread loaf with soft surface to the blackish-gray cast iron skillet using the left arm.", + "Use the left arm to grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Grab the bread loaf with soft surface and place it into the dark gray round cast iron pan.", + "Grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Grab the bread with golden crust and place it in the cooking skillet with grippy handle", + "Pick up the bread loaf with soft surface and drop it into the blackish-gray cast iron skillet", + "Take the bread with golden crust and put it in the cooking skillet with grippy handle", + "Use the left arm to move the rectangular bread loaf to the dark gray round cast iron pan.", + "Grab the bread with golden crust and drop it into the blackish-gray cast iron skillet.", + "Pick the rectangular bread loaf up and place it in the dark gray round cast iron pan", + "Move the bread with golden crust to the dark gray round cast iron pan using the left arm.", + "Use the left arm to grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Grab the rectangular bread loaf and place it into the dark gray round cast iron pan.", + "Grab the bread loaf with soft surface and set it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it in the dark gray round cast iron pan", + "Pick up the bread with golden crust and drop it into the blackish-gray cast iron skillet", + "Take the rectangular bread loaf and put it in the cooking skillet with grippy handle", + "Use the left arm to move the rectangular bread loaf to the dark gray round cast iron pan.", + "Grab the bread loaf with soft surface and drop it into the dark gray round cast iron pan.", + "Pick the rectangular bread loaf up and place it in the cooking skillet with grippy handle", + "Move the bread loaf with soft surface to the blackish-gray cast iron skillet using the left arm.", + "Use the left arm to grab the bread with golden crust and set it in the cooking skillet with grippy handle", + "Grab the bread with golden crust and place it into the cooking skillet with grippy handle.", + "Grab the bread loaf with soft surface and set it in the cooking skillet with grippy handle", + "Grab the rectangular bread loaf and place it in the dark gray round cast iron pan", + "Pick up the bread with golden crust and drop it into the cooking skillet with grippy handle", + "Take the bread loaf with soft surface and put it in the cooking skillet with grippy handle", + "Use the left arm to move the rectangular bread loaf to the dark gray round cast iron pan.", + "Grab the rectangular bread loaf and drop it into the blackish-gray cast iron skillet.", + "Pick the bread with golden crust up and place it in the blackish-gray cast iron skillet", + "Move the rectangular bread loaf to the blackish-gray cast iron skillet using the left arm.", + "Use the left arm to grab the bread with golden crust and set it in the dark gray round cast iron pan", + "Grab the bread with golden crust and place it into the cooking skillet with grippy handle.", + "Grab the rectangular bread loaf and set it in the cooking skillet with grippy handle", + "Grab the bread loaf with soft surface and place it in the dark gray round cast iron pan", + "Pick up the rectangular bread loaf and drop it into the blackish-gray cast iron skillet", + "Take the rectangular bread loaf and put it in the blackish-gray cast iron skillet", + "Use the left arm to move the rectangular bread loaf to the blackish-gray cast iron skillet.", + "Grab the bread with golden crust and drop it into the dark gray round cast iron pan.", + "Pick the rectangular bread loaf up and place it in the blackish-gray cast iron skillet", + "Move the bread loaf with soft surface to the dark gray round cast iron pan using the left arm.", + "Use the left arm to grab the rectangular bread loaf and set it in the dark gray round cast iron pan", + "Grab the bread loaf with soft surface and place it into the dark gray round cast iron pan.", + "Grab the bread with golden crust and set it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it in the dark gray round cast iron pan", + "Pick up the bread with golden crust and drop it into the blackish-gray cast iron skillet", + "Take the bread loaf with soft surface and put it in the blackish-gray cast iron skillet", + "Use the left arm to move the rectangular bread loaf to the dark gray round cast iron pan.", + "Grab the rectangular bread loaf and drop it into the blackish-gray cast iron skillet.", + "Pick the bread loaf with soft surface up and place it in the blackish-gray cast iron skillet", + "Move the bread with golden crust to the dark gray round cast iron pan using the left arm.", + "Use the left arm to grab the rectangular bread loaf and set it in the blackish-gray cast iron skillet", + "Grab the rectangular bread loaf and place it into the blackish-gray cast iron skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode48.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode48.json new file mode 100644 index 0000000000000000000000000000000000000000..99c935569deaf119aac2f1da7a792d53878335cb --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode48.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the rounded square loaf into the smooth round pan made of iron from the table", + "Take the light brown porous bread and drop it into the skillet with extended grip handle.", + "Use the left arm to grab the rounded square loaf and set it in the skillet with extended grip handle.", + "Use the left arm to grab the square-shaped bread piece for the dark pan with sturdy grip", + "Place the square-shaped bread piece into the smooth round pan made of iron using the left arm", + "Pick up the sponge-textured golden bread and put it in the smooth round pan made of iron", + "Use the left arm to pick the medium-sized bread piece up for the smooth round pan made of iron", + "Grab the golden brown bread and place it inside the versatile skillet for stovetop cooking.", + "Lift the square-shaped bread piece using the left arm and move it to the black pan with curved edges", + "Pick up the sponge-textured golden bread and place it in the versatile skillet for stovetop cooking.", + "Use the left arm to take the golden brown bread and move it into the smooth round pan made of iron.", + "Lift the bread with soft texture and drop it into the smooth round pan made of iron.", + "Grab the bread with rounded edges and drop it into the solid dark-colored round pan", + "Transfer the medium-sized bread piece into the black pan with curved edges from the table", + "Pick the soft square bread and transfer it to the smooth round pan made of iron", + "Place the light brown porous bread from the table into the solid dark-colored round pan", + "Take the bread with soft texture and set it into the black pan with curved edges", + "Pick the medium-sized bread piece and set it into the heavy black cooking skillet.", + "Grab the medium bread with rounded sides and place it inside the heavy black cooking skillet", + "Place the rounded square loaf into the black pan with curved edges with the left arm.", + "Use the left arm to grab the rounded square loaf for the heavy black cooking skillet", + "Take the bread with rounded edges and put it in the versatile skillet for stovetop cooking.", + "Grab the bread with soft texture with the left arm and place in the solid dark-colored round pan", + "Move the rounded square loaf to the solid dark-colored round pan using the left arm", + "Pick the bread with rounded edges up using the left arm and drop it in the skillet with extended grip handle.", + "Put the fluffy baked bread into the medium black pan with handle.", + "Take the sponge-textured golden bread off the table into the skillet with extended grip handle", + "Use the left arm to move the light brown porous bread into the black pan with curved edges", + "Put the soft square bread into the smooth round pan made of iron after grabbing it", + "Pick the fluffy baked bread with the left arm and set it in the flat-bottomed skillet with long handle", + "Use the left arm to pick the square-shaped bread piece and put it in the dark pan with sturdy grip", + "Use the left arm to stick the golden baked bread into the black pan with curved edges.", + "Use the left arm to move the bread with soft texture and set it into the smooth round pan made of iron.", + "Take the light brown porous bread and put it in the solid dark-colored round pan.", + "Take the light brown porous bread and place it inside the medium black pan with handle", + "Use the left arm to pick the golden brown bread and place it into the round pan with hole in handle.", + "Take the golden baked bread with the left arm and drop into the versatile skillet for stovetop cooking", + "Grab the rounded square loaf using the left arm and place it in the medium black pan with handle", + "Pick the rounded square loaf off the table and place it in the flat-bottomed skillet with long handle.", + "Lift the medium bread with rounded sides and drop it into the round cooking pan", + "Use the left arm to place the rounded square loaf into the flat-bottomed skillet with long handle", + "Grab the golden brown bread from the table and set it in the round pan with hole in handle.", + "Move the golden baked bread from table into the round cooking pan", + "Use the left arm to lift the golden brown bread and place it into the solid dark-colored round pan.", + "Take the bread with soft texture and place it inside the heavy black cooking skillet", + "Set the light brown porous bread into the black skillet with smooth base after grabbing", + "Use the left arm to pick the sponge-textured golden bread for the dark pan with sturdy grip", + "Grab the bread with soft texture and stick it in the round pan with hole in handle.", + "Use the left arm to set the light brown porous bread into the versatile skillet for stovetop cooking.", + "Pick up the bread with rounded edges with the left arm and drop it in the versatile skillet for stovetop cooking", + "Move the golden baked bread into the round cooking pan from the table", + "Take the sponge-textured golden bread and drop it into the medium black pan with handle.", + "Use the left arm to grab the sponge-textured golden bread and set it in the smooth round pan made of iron.", + "Use the left arm to grab the golden baked bread for the round cooking pan", + "Place the medium bread with rounded sides into the heavy black cooking skillet using the left arm", + "Pick up the fluffy baked bread and put it in the skillet with extended grip handle", + "Use the left arm to pick the sponge-textured golden bread up for the round cooking pan", + "Grab the bread with rounded edges and place it inside the flat-bottomed skillet with long handle.", + "Lift the square-shaped bread piece using the left arm and move it to the versatile skillet for stovetop cooking", + "Pick up the bread with rounded edges and place it in the dark pan with sturdy grip.", + "Use the left arm to take the sponge-textured golden bread and move it into the skillet with extended grip handle.", + "Lift the soft square bread and drop it into the black pan with curved edges.", + "Grab the medium-sized bread piece and drop it into the versatile skillet for stovetop cooking", + "Transfer the bread with soft texture into the solid dark-colored round pan from the table", + "Pick the square-shaped bread piece and transfer it to the round cooking pan", + "Place the fluffy baked bread from the table into the medium black pan with handle", + "Take the bread with soft texture and set it into the heavy black cooking skillet", + "Pick the light brown porous bread and set it into the heavy black cooking skillet.", + "Grab the fluffy baked bread and place it inside the black pan with curved edges", + "Place the medium bread with rounded sides into the black skillet with smooth base with the left arm.", + "Use the left arm to grab the rounded square loaf for the dark pan with sturdy grip", + "Take the fluffy baked bread and put it in the black pan with curved edges.", + "Grab the sponge-textured golden bread with the left arm and place in the black skillet with smooth base", + "Move the bread with soft texture to the dark pan with sturdy grip using the left arm", + "Pick the bread with soft texture up using the left arm and drop it in the black pan with curved edges.", + "Put the rounded square loaf into the medium black pan with handle.", + "Take the medium-sized bread piece off the table into the dark pan with sturdy grip", + "Use the left arm to move the sponge-textured golden bread into the solid dark-colored round pan", + "Put the sponge-textured golden bread into the dark pan with sturdy grip after grabbing it", + "Pick the bread with soft texture with the left arm and set it in the versatile skillet for stovetop cooking", + "Use the left arm to pick the bread with rounded edges and put it in the dark pan with sturdy grip", + "Use the left arm to stick the sponge-textured golden bread into the dark pan with sturdy grip.", + "Use the left arm to move the bread with rounded edges and set it into the heavy black cooking skillet.", + "Take the medium-sized bread piece and put it in the smooth round pan made of iron.", + "Take the bread with soft texture and place it inside the heavy black cooking skillet", + "Use the left arm to pick the medium-sized bread piece and place it into the round pan with hole in handle.", + "Take the square-shaped bread piece with the left arm and drop into the black skillet with smooth base", + "Grab the square-shaped bread piece using the left arm and place it in the heavy black cooking skillet", + "Pick the medium-sized bread piece off the table and place it in the black skillet with smooth base.", + "Lift the golden brown bread and drop it into the black pan with curved edges", + "Use the left arm to place the bread with rounded edges into the smooth round pan made of iron", + "Grab the golden baked bread from the table and set it in the solid dark-colored round pan.", + "Move the soft square bread from table into the black skillet with smooth base", + "Use the left arm to lift the bread with soft texture and place it into the solid dark-colored round pan.", + "Take the light brown porous bread and place it inside the round cooking pan", + "Set the medium-sized bread piece into the flat-bottomed skillet with long handle after grabbing", + "Use the left arm to pick the bread with rounded edges for the black pan with curved edges", + "Grab the golden brown bread and stick it in the heavy black cooking skillet.", + "Use the left arm to set the bread with rounded edges into the medium black pan with handle.", + "Pick up the medium bread with rounded sides with the left arm and drop it in the black skillet with smooth base" + ], + "unseen": [ + "Use the left arm to move the soft bread with golden edges to the round cast-iron skillet.", + "Pick up the soft bread with golden edges and drop it into the round cast-iron skillet", + "Take the square bread with light spots and put it in the round cast-iron skillet", + "Use the left arm to grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it in the iron skillet for frying foods", + "Pick the soft bread with golden edges up and place it in the iron skillet for frying foods", + "Grab the square bread with light spots and place it into the iron skillet for frying foods.", + "Grab the soft bread with golden edges and set it in the black skillet", + "Move the spongy golden brown bread to the black skillet using the left arm.", + "Grab the square bread with light spots and drop it into the black skillet.", + "Use the left arm to move the square bread with light spots to the round cast-iron skillet.", + "Pick up the square bread with light spots and drop it into the round cast-iron skillet", + "Take the square bread with light spots and put it in the round cast-iron skillet", + "Use the left arm to grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Grab the soft bread with golden edges and place it in the black skillet", + "Pick the spongy golden brown bread up and place it in the iron skillet for frying foods", + "Grab the soft bread with golden edges and place it into the iron skillet for frying foods.", + "Grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Move the soft bread with golden edges to the round cast-iron skillet using the left arm.", + "Grab the soft bread with golden edges and drop it into the iron skillet for frying foods.", + "Use the left arm to move the square bread with light spots to the black skillet.", + "Pick up the spongy golden brown bread and drop it into the iron skillet for frying foods", + "Take the soft bread with golden edges and put it in the iron skillet for frying foods", + "Use the left arm to grab the square bread with light spots and set it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it in the black skillet", + "Pick the square bread with light spots up and place it in the round cast-iron skillet", + "Grab the square bread with light spots and place it into the black skillet.", + "Grab the square bread with light spots and set it in the iron skillet for frying foods", + "Move the soft bread with golden edges to the iron skillet for frying foods using the left arm.", + "Grab the square bread with light spots and drop it into the black skillet.", + "Use the left arm to move the square bread with light spots to the round cast-iron skillet.", + "Pick up the soft bread with golden edges and drop it into the round cast-iron skillet", + "Take the spongy golden brown bread and put it in the iron skillet for frying foods", + "Use the left arm to grab the square bread with light spots and set it in the black skillet", + "Grab the spongy golden brown bread and place it in the iron skillet for frying foods", + "Pick the square bread with light spots up and place it in the black skillet", + "Grab the spongy golden brown bread and place it into the black skillet.", + "Grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Move the spongy golden brown bread to the round cast-iron skillet using the left arm.", + "Grab the soft bread with golden edges and drop it into the black skillet.", + "Use the left arm to move the soft bread with golden edges to the round cast-iron skillet.", + "Pick up the soft bread with golden edges and drop it into the iron skillet for frying foods", + "Take the spongy golden brown bread and put it in the black skillet", + "Use the left arm to grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Grab the soft bread with golden edges and place it in the iron skillet for frying foods", + "Pick the square bread with light spots up and place it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it into the round cast-iron skillet.", + "Grab the square bread with light spots and set it in the iron skillet for frying foods", + "Move the spongy golden brown bread to the round cast-iron skillet using the left arm.", + "Grab the square bread with light spots and drop it into the black skillet.", + "Use the left arm to move the spongy golden brown bread to the iron skillet for frying foods.", + "Pick up the spongy golden brown bread and drop it into the iron skillet for frying foods", + "Take the spongy golden brown bread and put it in the iron skillet for frying foods", + "Use the left arm to grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it in the iron skillet for frying foods", + "Pick the square bread with light spots up and place it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it into the black skillet.", + "Grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Move the soft bread with golden edges to the iron skillet for frying foods using the left arm.", + "Grab the square bread with light spots and drop it into the black skillet.", + "Use the left arm to move the spongy golden brown bread to the iron skillet for frying foods.", + "Pick up the soft bread with golden edges and drop it into the iron skillet for frying foods", + "Take the soft bread with golden edges and put it in the round cast-iron skillet", + "Use the left arm to grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it in the round cast-iron skillet", + "Pick the soft bread with golden edges up and place it in the iron skillet for frying foods", + "Grab the soft bread with golden edges and place it into the round cast-iron skillet.", + "Grab the spongy golden brown bread and set it in the black skillet", + "Move the soft bread with golden edges to the iron skillet for frying foods using the left arm.", + "Grab the soft bread with golden edges and drop it into the iron skillet for frying foods.", + "Use the left arm to move the spongy golden brown bread to the iron skillet for frying foods.", + "Pick up the square bread with light spots and drop it into the iron skillet for frying foods", + "Take the spongy golden brown bread and put it in the iron skillet for frying foods", + "Use the left arm to grab the square bread with light spots and set it in the black skillet", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Pick the spongy golden brown bread up and place it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it into the round cast-iron skillet.", + "Grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Move the spongy golden brown bread to the round cast-iron skillet using the left arm.", + "Grab the square bread with light spots and drop it into the round cast-iron skillet.", + "Use the left arm to move the spongy golden brown bread to the iron skillet for frying foods.", + "Pick up the soft bread with golden edges and drop it into the round cast-iron skillet", + "Take the spongy golden brown bread and put it in the black skillet", + "Use the left arm to grab the spongy golden brown bread and set it in the black skillet", + "Grab the soft bread with golden edges and place it in the round cast-iron skillet", + "Pick the spongy golden brown bread up and place it in the iron skillet for frying foods", + "Grab the spongy golden brown bread and place it into the black skillet.", + "Grab the soft bread with golden edges and set it in the black skillet", + "Move the soft bread with golden edges to the iron skillet for frying foods using the left arm.", + "Grab the square bread with light spots and drop it into the round cast-iron skillet.", + "Use the left arm to move the square bread with light spots to the round cast-iron skillet.", + "Pick up the square bread with light spots and drop it into the iron skillet for frying foods", + "Take the square bread with light spots and put it in the iron skillet for frying foods", + "Use the left arm to grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Pick the spongy golden brown bread up and place it in the iron skillet for frying foods", + "Grab the square bread with light spots and place it into the round cast-iron skillet.", + "Grab the square bread with light spots and set it in the black skillet", + "Move the square bread with light spots to the round cast-iron skillet using the left arm.", + "Grab the square bread with light spots and drop it into the black skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode49.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode49.json new file mode 100644 index 0000000000000000000000000000000000000000..c7648fd1345b08730a71069bc30338715499eb74 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode49.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to take the medium bread with rounded sides and move it into the skillet with black cooking surface.", + "Use the left arm to pick the light brown porous bread and place it into the skillet for frying food.", + "Move the square-shaped bread piece from table into the skillet with black cooking surface", + "Use the left arm to grab the fluffy baked bread and set it in the round skillet with open handle end.", + "Pick the medium-sized bread piece with the left arm and set it in the metal skillet", + "Pick the golden baked bread up using the left arm and drop it in the round skillet with open handle end.", + "Use the left arm to pick the medium bread with rounded sides and put it in the flat-bottom skillet", + "Pick up the square-shaped bread piece and place it in the dark gray skillet.", + "Use the left arm to stick the square-shaped bread piece into the smooth non-stick skillet.", + "Grab the golden brown bread using the left arm and place it in the black-surfaced skillet with gray sides", + "Grab the sponge-textured golden bread and place it inside the flat-bottom skillet", + "Move the light brown porous bread into the skillet with black cooking surface from the table", + "Pick the square-shaped bread piece off the table and place it in the smooth non-stick skillet.", + "Pick the bread with soft texture and set it into the round skillet with handle.", + "Take the medium-sized bread piece and place it inside the skillet with black cooking surface", + "Use the left arm to move the fluffy baked bread and set it into the round skillet with open handle end.", + "Transfer the sponge-textured golden bread into the metal skillet with comfortable grip from the table", + "Put the golden brown bread into the skillet for frying food.", + "Place the light brown porous bread from the table into the skillet for frying food", + "Take the medium-sized bread piece off the table into the medium-sized frying skillet", + "Place the fluffy baked bread into the skillet for frying food with the left arm.", + "Move the bread with rounded edges to the skillet for frying food using the left arm", + "Take the light brown porous bread with the left arm and drop into the smooth non-stick skillet", + "Use the left arm to grab the medium bread with rounded sides for the smooth non-stick skillet", + "Put the square-shaped bread piece into the round skillet with handle after grabbing it", + "Grab the golden brown bread from the table and set it in the medium-sized frying skillet.", + "Use the left arm to lift the rounded square loaf and place it into the flat-bottom skillet.", + "Grab the bread with soft texture and place it inside the dark gray skillet.", + "Pick up the golden baked bread with the left arm and drop it in the flat-bottom skillet", + "Lift the soft square bread and drop it into the flat-bottom skillet.", + "Take the medium-sized bread piece and set it into the round skillet with open handle end", + "Take the light brown porous bread and put it in the medium-sized frying skillet.", + "Grab the medium bread with rounded sides with the left arm and place in the dark gray skillet", + "Use the left arm to move the golden baked bread into the skillet with black cooking surface", + "Take the soft square bread and drop it into the skillet for frying food.", + "Pick up the bread with rounded edges and put it in the smooth non-stick skillet", + "Lift the bread with soft texture using the left arm and move it to the dark gray skillet", + "Take the light brown porous bread and put it in the medium-sized frying skillet.", + "Use the left arm to place the rounded square loaf into the metal skillet with comfortable grip", + "Pick the bread with rounded edges and transfer it to the medium-sized frying skillet", + "Use the left arm to set the rounded square loaf into the black-surfaced skillet with gray sides.", + "Use the left arm to grab the bread with rounded edges for the gray skillet for stovetop cooking", + "Set the soft square bread into the dark gray skillet after grabbing", + "Grab the fluffy baked bread and drop it into the round skillet with handle", + "Take the golden brown bread and place it inside the round skillet with handle", + "Place the medium-sized bread piece into the metal skillet using the left arm", + "Use the left arm to pick the sponge-textured golden bread for the dark gray skillet", + "Grab the sponge-textured golden bread and stick it in the round skillet with handle.", + "Lift the light brown porous bread and drop it into the smooth non-stick skillet", + "Use the left arm to pick the medium-sized bread piece up for the gray skillet for stovetop cooking", + "Use the left arm to take the golden baked bread and move it into the medium-sized frying skillet.", + "Use the left arm to pick the bread with soft texture and place it into the medium-sized frying skillet.", + "Move the square-shaped bread piece from table into the round skillet with open handle end", + "Use the left arm to grab the rounded square loaf and set it in the skillet with black cooking surface.", + "Pick the rounded square loaf with the left arm and set it in the round skillet with handle", + "Pick the sponge-textured golden bread up using the left arm and drop it in the black-surfaced skillet with gray sides.", + "Use the left arm to pick the rounded square loaf and put it in the medium-sized frying skillet", + "Pick up the golden brown bread and place it in the flat-bottom skillet.", + "Use the left arm to stick the bread with rounded edges into the skillet for frying food.", + "Grab the square-shaped bread piece using the left arm and place it in the black-surfaced skillet with gray sides", + "Grab the sponge-textured golden bread and place it inside the smooth non-stick skillet", + "Move the soft square bread into the gray skillet for stovetop cooking from the table", + "Pick the soft square bread off the table and place it in the black-surfaced skillet with gray sides.", + "Pick the light brown porous bread and set it into the dark gray skillet.", + "Take the square-shaped bread piece and place it inside the flat-bottom skillet", + "Use the left arm to move the light brown porous bread and set it into the round skillet with handle.", + "Transfer the sponge-textured golden bread into the gray skillet for stovetop cooking from the table", + "Put the bread with rounded edges into the gray skillet for stovetop cooking.", + "Place the golden brown bread from the table into the dark gray skillet", + "Take the medium bread with rounded sides off the table into the round skillet with handle", + "Place the bread with rounded edges into the skillet for frying food with the left arm.", + "Move the rounded square loaf to the gray skillet for stovetop cooking using the left arm", + "Take the square-shaped bread piece with the left arm and drop into the gray skillet for stovetop cooking", + "Use the left arm to grab the medium bread with rounded sides for the dark gray skillet", + "Put the medium bread with rounded sides into the flat-bottom skillet after grabbing it", + "Grab the medium-sized bread piece from the table and set it in the metal skillet.", + "Use the left arm to lift the medium-sized bread piece and place it into the medium-sized frying skillet.", + "Grab the bread with soft texture and place it inside the gray skillet for stovetop cooking.", + "Pick up the light brown porous bread with the left arm and drop it in the flat-bottom skillet", + "Lift the golden baked bread and drop it into the metal skillet with comfortable grip.", + "Take the golden brown bread and set it into the gray skillet for stovetop cooking", + "Take the bread with soft texture and put it in the medium-sized frying skillet.", + "Grab the fluffy baked bread with the left arm and place in the dark gray skillet", + "Use the left arm to move the medium-sized bread piece into the gray skillet for stovetop cooking", + "Take the rounded square loaf and drop it into the medium-sized frying skillet.", + "Pick up the bread with soft texture and put it in the gray skillet for stovetop cooking", + "Lift the medium bread with rounded sides using the left arm and move it to the round skillet with handle", + "Take the sponge-textured golden bread and put it in the round skillet with handle.", + "Use the left arm to place the fluffy baked bread into the smooth non-stick skillet", + "Pick the golden brown bread and transfer it to the round skillet with open handle end", + "Use the left arm to set the soft square bread into the skillet with black cooking surface.", + "Use the left arm to grab the bread with soft texture for the skillet for frying food", + "Set the golden baked bread into the black-surfaced skillet with gray sides after grabbing", + "Grab the golden brown bread and drop it into the medium-sized frying skillet", + "Take the medium bread with rounded sides and place it inside the flat-bottom skillet", + "Place the rounded square loaf into the medium-sized frying skillet using the left arm", + "Use the left arm to pick the bread with soft texture for the medium-sized frying skillet", + "Grab the soft square bread and stick it in the skillet with black cooking surface.", + "Lift the square-shaped bread piece and drop it into the skillet for frying food", + "Use the left arm to pick the bread with soft texture up for the skillet for frying food" + ], + "unseen": [ + "Use the left arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Pick up the square bread with light spots and drop it into the versatile skillet for frying and sauteing", + "Move the square bread with light spots to the dark skillet with shiny finish using the left arm.", + "Grab the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle.", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Use the left arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and place it in the dark skillet with shiny finish", + "Use the left arm to grab the spongy golden brown bread and set it in the versatile skillet for frying and sauteing", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Pick up the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the spongy golden brown bread up and place it in the pan-shaped skillet with hole in handle", + "Grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Use the left arm to move the soft bread with golden edges to the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Grab the square bread with light spots and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the soft bread with golden edges and set it in the pan-shaped skillet with hole in handle", + "Take the square bread with light spots and put it in the dark skillet with shiny finish", + "Pick up the soft bread with golden edges and drop it into the pan-shaped skillet with hole in handle", + "Move the square bread with light spots to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Use the left arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and place it into the versatile skillet for frying and sauteing.", + "Grab the spongy golden brown bread and place it in the dark skillet with shiny finish", + "Use the left arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Take the soft bread with golden edges and put it in the pan-shaped skillet with hole in handle", + "Pick up the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing", + "Move the soft bread with golden edges to the versatile skillet for frying and sauteing using the left arm.", + "Grab the square bread with light spots and drop it into the dark skillet with shiny finish.", + "Pick the square bread with light spots up and place it in the versatile skillet for frying and sauteing", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Grab the spongy golden brown bread and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the spongy golden brown bread and set it in the dark skillet with shiny finish", + "Take the spongy golden brown bread and put it in the versatile skillet for frying and sauteing", + "Pick up the square bread with light spots and drop it into the dark skillet with shiny finish", + "Move the spongy golden brown bread to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the soft bread with golden edges and drop it into the versatile skillet for frying and sauteing.", + "Pick the soft bread with golden edges up and place it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Use the left arm to move the spongy golden brown bread to the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and place it into the pan-shaped skillet with hole in handle.", + "Grab the square bread with light spots and place it in the pan-shaped skillet with hole in handle", + "Use the left arm to grab the soft bread with golden edges and set it in the dark skillet with shiny finish", + "Take the square bread with light spots and put it in the pan-shaped skillet with hole in handle", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Move the square bread with light spots to the versatile skillet for frying and sauteing using the left arm.", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the square bread with light spots up and place it in the pan-shaped skillet with hole in handle", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Grab the square bread with light spots and place it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Use the left arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Take the soft bread with golden edges and put it in the pan-shaped skillet with hole in handle", + "Pick up the spongy golden brown bread and drop it into the dark skillet with shiny finish", + "Move the square bread with light spots to the dark skillet with shiny finish using the left arm.", + "Grab the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle.", + "Pick the soft bread with golden edges up and place it in the pan-shaped skillet with hole in handle", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Use the left arm to move the square bread with light spots to the versatile skillet for frying and sauteing.", + "Grab the soft bread with golden edges and place it into the dark skillet with shiny finish.", + "Grab the soft bread with golden edges and place it in the versatile skillet for frying and sauteing", + "Use the left arm to grab the spongy golden brown bread and set it in the pan-shaped skillet with hole in handle", + "Take the soft bread with golden edges and put it in the dark skillet with shiny finish", + "Pick up the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle", + "Move the square bread with light spots to the versatile skillet for frying and sauteing using the left arm.", + "Grab the square bread with light spots and drop it into the pan-shaped skillet with hole in handle.", + "Pick the soft bread with golden edges up and place it in the dark skillet with shiny finish", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Use the left arm to move the square bread with light spots to the dark skillet with shiny finish.", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Use the left arm to grab the square bread with light spots and set it in the pan-shaped skillet with hole in handle", + "Take the square bread with light spots and put it in the versatile skillet for frying and sauteing", + "Pick up the spongy golden brown bread and drop it into the pan-shaped skillet with hole in handle", + "Move the soft bread with golden edges to the pan-shaped skillet with hole in handle using the left arm.", + "Grab the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing.", + "Pick the spongy golden brown bread up and place it in the dark skillet with shiny finish", + "Grab the soft bread with golden edges and set it in the versatile skillet for frying and sauteing", + "Use the left arm to move the soft bread with golden edges to the versatile skillet for frying and sauteing.", + "Grab the square bread with light spots and place it into the pan-shaped skillet with hole in handle.", + "Grab the soft bread with golden edges and place it in the dark skillet with shiny finish", + "Use the left arm to grab the square bread with light spots and set it in the dark skillet with shiny finish", + "Take the soft bread with golden edges and put it in the pan-shaped skillet with hole in handle", + "Pick up the spongy golden brown bread and drop it into the versatile skillet for frying and sauteing", + "Move the square bread with light spots to the dark skillet with shiny finish using the left arm.", + "Grab the spongy golden brown bread and drop it into the dark skillet with shiny finish.", + "Pick the spongy golden brown bread up and place it in the versatile skillet for frying and sauteing", + "Grab the square bread with light spots and set it in the dark skillet with shiny finish" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode5.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode5.json new file mode 100644 index 0000000000000000000000000000000000000000..ad33bcca00a1794aabc4b207bed120e23eadac75 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode5.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Move the light golden brown bread to the round skillet with handle using the right arm", + "Pick the bread loaf with bumpy surface up using the right arm and drop it in the round skillet with handle.", + "Grab the golden bread loaf and drop it into the skillet with black cooking surface", + "Use the right arm to move the bread loaf with bumpy surface into the metal skillet with comfortable grip", + "Lift the square-shaped bread and drop it into the flat-bottom skillet.", + "Take the bread loaf with bumpy surface with the right arm and drop into the round skillet with open handle end", + "Grab the cuboid bread with the right arm and place in the smooth non-stick skillet", + "Use the right arm to pick the bread block with light patches and put it in the flat-bottom skillet", + "Use the right arm to grab the bread loaf with uneven edges and set it in the dark gray skillet.", + "Pick up the bread loaf with bumpy surface with the right arm and drop it in the metal skillet", + "Move the doughy and soft bread into the round skillet with open handle end from the table", + "Take the doughy and soft bread off the table into the flat-bottom skillet", + "Use the right arm to move the hand-sized bread block and set it into the flat-bottom skillet.", + "Pick the bread with rough texture with the right arm and set it in the gray skillet for stovetop cooking", + "Transfer the hand-sized bread block into the round skillet with handle from the table", + "Take the light golden brown bread and put it in the skillet for frying food.", + "Put the bread loaf with bumpy surface into the metal skillet with comfortable grip after grabbing it", + "Take the soft bread and drop it into the dark gray skillet.", + "Place the bread with rough texture into the round skillet with handle with the right arm.", + "Put the soft bread into the gray skillet for stovetop cooking.", + "Grab the hand-sized bread block using the right arm and place it in the black-surfaced skillet with gray sides", + "Lift the bread loaf with uneven edges and drop it into the gray skillet for stovetop cooking", + "Use the right arm to place the bread loaf with bumpy surface into the dark gray skillet", + "Use the right arm to pick the doughy and soft bread up for the smooth non-stick skillet", + "Use the right arm to grab the bread loaf with uneven edges for the black-surfaced skillet with gray sides", + "Grab the hand-sized bread block and place it inside the gray skillet for stovetop cooking", + "Use the right arm to take the bread with rough texture and move it into the skillet with black cooking surface.", + "Pick the hand-sized bread block off the table and place it in the metal skillet.", + "Take the bread loaf with uneven edges and put it in the flat-bottom skillet.", + "Place the square-shaped bread from the table into the metal skillet", + "Take the bread block with light patches and place it inside the round skillet with handle", + "Grab the light golden brown bread and stick it in the metal skillet with comfortable grip.", + "Use the right arm to grab the doughy and soft bread for the skillet for frying food", + "Use the right arm to stick the soft bread into the skillet for frying food.", + "Grab the soft bread and place it inside the smooth non-stick skillet.", + "Place the cuboid bread into the smooth non-stick skillet using the right arm", + "Pick the hand-sized bread block and set it into the flat-bottom skillet.", + "Lift the bread loaf with uneven edges using the right arm and move it to the flat-bottom skillet", + "Move the bread block with light patches from table into the flat-bottom skillet", + "Use the right arm to pick the light golden brown bread for the black-surfaced skillet with gray sides", + "Set the light golden brown bread into the black-surfaced skillet with gray sides after grabbing", + "Grab the golden bread loaf from the table and set it in the round skillet with handle.", + "Use the right arm to lift the doughy and soft bread and place it into the metal skillet with comfortable grip.", + "Take the doughy and soft bread and place it inside the flat-bottom skillet", + "Pick the soft bread and transfer it to the black-surfaced skillet with gray sides", + "Take the bread loaf with uneven edges and set it into the round skillet with open handle end", + "Use the right arm to pick the hand-sized bread block and place it into the medium-sized frying skillet.", + "Pick up the square-shaped bread and place it in the smooth non-stick skillet.", + "Use the right arm to set the light golden brown bread into the flat-bottom skillet.", + "Pick up the cuboid bread and put it in the flat-bottom skillet", + "Move the square-shaped bread to the skillet for frying food using the right arm", + "Pick the soft bread up using the right arm and drop it in the round skillet with open handle end.", + "Grab the light golden brown bread and drop it into the metal skillet with comfortable grip", + "Use the right arm to move the golden bread into the medium-sized frying skillet", + "Lift the hand-sized bread block and drop it into the round skillet with handle.", + "Take the golden bread with the right arm and drop into the gray skillet for stovetop cooking", + "Grab the soft bread with the right arm and place in the smooth non-stick skillet", + "Use the right arm to pick the doughy and soft bread and put it in the skillet for frying food", + "Use the right arm to grab the square-shaped bread and set it in the black-surfaced skillet with gray sides.", + "Pick up the light golden brown bread with the right arm and drop it in the metal skillet with comfortable grip", + "Move the cuboid bread into the gray skillet for stovetop cooking from the table", + "Take the doughy and soft bread off the table into the medium-sized frying skillet", + "Use the right arm to move the golden bread and set it into the skillet with black cooking surface.", + "Pick the bread block with light patches with the right arm and set it in the round skillet with open handle end", + "Transfer the doughy and soft bread into the black-surfaced skillet with gray sides from the table", + "Take the bread block with light patches and put it in the medium-sized frying skillet.", + "Put the square-shaped bread into the skillet with black cooking surface after grabbing it", + "Take the golden bread and drop it into the black-surfaced skillet with gray sides.", + "Place the doughy and soft bread into the metal skillet with comfortable grip with the right arm.", + "Put the golden bread into the metal skillet with comfortable grip.", + "Grab the soft bread using the right arm and place it in the round skillet with handle", + "Lift the golden bread loaf and drop it into the metal skillet", + "Use the right arm to place the golden bread into the dark gray skillet", + "Use the right arm to pick the bread loaf with uneven edges up for the dark gray skillet", + "Use the right arm to grab the golden bread for the black-surfaced skillet with gray sides", + "Grab the cuboid bread and place it inside the flat-bottom skillet", + "Use the right arm to take the soft bread and move it into the skillet for frying food.", + "Pick the doughy and soft bread off the table and place it in the skillet for frying food.", + "Take the doughy and soft bread and put it in the black-surfaced skillet with gray sides.", + "Place the light golden brown bread from the table into the metal skillet with comfortable grip", + "Take the bread with rough texture and place it inside the skillet for frying food", + "Grab the hand-sized bread block and stick it in the smooth non-stick skillet.", + "Use the right arm to grab the bread loaf with uneven edges for the metal skillet with comfortable grip", + "Use the right arm to stick the cuboid bread into the flat-bottom skillet.", + "Grab the bread with rough texture and place it inside the metal skillet.", + "Place the bread block with light patches into the round skillet with handle using the right arm", + "Pick the soft bread and set it into the black-surfaced skillet with gray sides.", + "Lift the square-shaped bread using the right arm and move it to the gray skillet for stovetop cooking", + "Move the golden bread from table into the black-surfaced skillet with gray sides", + "Use the right arm to pick the doughy and soft bread for the metal skillet with comfortable grip", + "Set the bread block with light patches into the round skillet with handle after grabbing", + "Grab the bread loaf with uneven edges from the table and set it in the round skillet with open handle end.", + "Use the right arm to lift the bread block with light patches and place it into the skillet for frying food.", + "Take the soft bread and place it inside the flat-bottom skillet", + "Pick the golden bread and transfer it to the round skillet with handle", + "Take the cuboid bread and set it into the round skillet with open handle end", + "Use the right arm to pick the light golden brown bread and place it into the metal skillet with comfortable grip.", + "Pick up the light golden brown bread and place it in the medium-sized frying skillet.", + "Use the right arm to set the light golden brown bread into the round skillet with open handle end.", + "Pick up the bread loaf with uneven edges and put it in the gray skillet for stovetop cooking" + ], + "unseen": [ + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Use the right arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Take the rectangular bread loaf and put it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the right arm.", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Grab the bread with golden crust and place it into the dark skillet with shiny finish.", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Move the rectangular bread loaf to the dark skillet with shiny finish using the right arm.", + "Grab the bread loaf with soft surface and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread with golden crust to the versatile skillet for frying and sauteing.", + "Take the rectangular bread loaf and put it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Pick up the bread with golden crust and drop it into the versatile skillet for frying and sauteing", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the rectangular bread loaf to the versatile skillet for frying and sauteing.", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Take the bread with golden crust and put it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Pick up the rectangular bread loaf and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the bread with golden crust and set it in the dark skillet with shiny finish", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the bread loaf with soft surface to the dark skillet with shiny finish.", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the dark skillet with shiny finish.", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the rectangular bread loaf and set it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread with golden crust and place it in the dark skillet with shiny finish", + "Grab the bread with golden crust and drop it into the pan-shaped skillet with hole in handle.", + "Grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Pick the bread loaf with soft surface up and place it in the pan-shaped skillet with hole in handle", + "Use the right arm to move the rectangular bread loaf to the dark skillet with shiny finish.", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and place it into the dark skillet with shiny finish.", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Move the bread with golden crust to the dark skillet with shiny finish using the right arm.", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the pan-shaped skillet with hole in handle.", + "Grab the bread loaf with soft surface and set it in the dark skillet with shiny finish", + "Pick the bread loaf with soft surface up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the bread with golden crust to the dark skillet with shiny finish.", + "Take the rectangular bread loaf and put it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the bread with golden crust and set it in the pan-shaped skillet with hole in handle", + "Move the bread with golden crust to the versatile skillet for frying and sauteing using the right arm.", + "Grab the rectangular bread loaf and place it in the pan-shaped skillet with hole in handle", + "Grab the bread loaf with soft surface and drop it into the versatile skillet for frying and sauteing.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the dark skillet with shiny finish", + "Use the right arm to move the bread with golden crust to the pan-shaped skillet with hole in handle.", + "Take the bread with golden crust and put it in the dark skillet with shiny finish", + "Grab the rectangular bread loaf and place it into the versatile skillet for frying and sauteing.", + "Pick up the bread loaf with soft surface and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the bread loaf with soft surface and set it in the versatile skillet for frying and sauteing", + "Move the bread loaf with soft surface to the versatile skillet for frying and sauteing using the right arm.", + "Grab the rectangular bread loaf and place it in the versatile skillet for frying and sauteing", + "Grab the bread loaf with soft surface and drop it into the dark skillet with shiny finish.", + "Grab the rectangular bread loaf and set it in the dark skillet with shiny finish", + "Pick the bread with golden crust up and place it in the versatile skillet for frying and sauteing", + "Use the right arm to move the bread loaf with soft surface to the versatile skillet for frying and sauteing.", + "Take the bread with golden crust and put it in the versatile skillet for frying and sauteing", + "Grab the rectangular bread loaf and place it into the pan-shaped skillet with hole in handle.", + "Pick up the bread with golden crust and drop it into the dark skillet with shiny finish", + "Use the right arm to grab the rectangular bread loaf and set it in the pan-shaped skillet with hole in handle", + "Move the bread loaf with soft surface to the pan-shaped skillet with hole in handle using the right arm.", + "Grab the bread with golden crust and place it in the pan-shaped skillet with hole in handle", + "Grab the rectangular bread loaf and drop it into the versatile skillet for frying and sauteing." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode6.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode6.json new file mode 100644 index 0000000000000000000000000000000000000000..9b0457657e31a6460e69f9c37125361509284b42 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode6.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the right arm to pick the bread with split top and place it into the round cooking pan.", + "Use the right arm to grab the light brown bread with ridges for the black skillet with smooth base", + "Grab the small loaf with curved top from the table and set it in the heavy black cooking skillet.", + "Use the right arm to grab the soft brown bread for the versatile skillet for stovetop cooking", + "Pick the small golden brown bread and set it into the flat-bottomed skillet with long handle.", + "Use the right arm to stick the small loaf with curved top into the medium black pan with handle.", + "Transfer the small golden brown bread into the versatile skillet for stovetop cooking from the table", + "Take the bread with split top off the table into the round cooking pan", + "Use the right arm to move the small golden brown bread and set it into the smooth round pan made of iron.", + "Use the right arm to set the brown loaf into the black pan with curved edges.", + "Take the bread with split top and put it in the dark pan with sturdy grip.", + "Lift the golden bread loaf using the right arm and move it to the versatile skillet for stovetop cooking", + "Use the right arm to take the bread with golden-brown crust and move it into the black pan with curved edges.", + "Use the right arm to lift the bread with split top and place it into the medium black pan with handle.", + "Use the right arm to pick the small loaf with curved top for the black skillet with smooth base", + "Use the right arm to place the bread with golden-brown crust into the round cooking pan", + "Take the bread with golden-brown crust with the right arm and drop into the round cooking pan", + "Pick the golden bread loaf and transfer it to the medium black pan with handle", + "Use the right arm to move the brown loaf into the skillet with extended grip handle", + "Place the golden bread loaf into the versatile skillet for stovetop cooking with the right arm.", + "Pick up the light brown bread with ridges with the right arm and drop it in the heavy black cooking skillet", + "Grab the bread with split top and place it inside the round pan with hole in handle.", + "Pick the soft brown bread up using the right arm and drop it in the dark pan with sturdy grip.", + "Grab the brown loaf using the right arm and place it in the smooth round pan made of iron", + "Grab the light brown bread with ridges and stick it in the dark pan with sturdy grip.", + "Lift the light brown loaf with smooth sides and drop it into the heavy black cooking skillet", + "Lift the smooth loaf with rounded edges and drop it into the solid dark-colored round pan.", + "Use the right arm to pick the smooth loaf with rounded edges up for the medium black pan with handle", + "Pick the golden bread loaf with the right arm and set it in the round cooking pan", + "Take the golden bread loaf and place it inside the skillet with extended grip handle", + "Take the soft brown bread and put it in the skillet with extended grip handle.", + "Use the right arm to grab the bread with golden-brown crust and set it in the black skillet with smooth base.", + "Place the bread with golden-brown crust into the versatile skillet for stovetop cooking using the right arm", + "Take the soft brown bread and place it inside the smooth round pan made of iron", + "Grab the small golden brown bread with the right arm and place in the round pan with hole in handle", + "Place the bread with split top from the table into the flat-bottomed skillet with long handle", + "Set the light brown loaf with smooth sides into the black pan with curved edges after grabbing", + "Use the right arm to pick the smooth loaf with rounded edges and put it in the round pan with hole in handle", + "Put the hand-sized oval loaf into the smooth round pan made of iron.", + "Pick up the hand-sized oval loaf and place it in the solid dark-colored round pan.", + "Move the small golden brown bread into the round cooking pan from the table", + "Grab the soft brown bread and drop it into the round cooking pan", + "Put the golden bread loaf into the smooth round pan made of iron after grabbing it", + "Pick the soft brown bread off the table and place it in the skillet with extended grip handle.", + "Take the brown loaf and set it into the heavy black cooking skillet", + "Take the small loaf with curved top and drop it into the versatile skillet for stovetop cooking.", + "Grab the small loaf with curved top and place it inside the round pan with hole in handle", + "Move the bread with golden-brown crust from table into the medium black pan with handle", + "Move the bread with warm golden color to the solid dark-colored round pan using the right arm", + "Pick up the bread with golden-brown crust and put it in the round pan with hole in handle", + "Use the right arm to pick the bread with split top and place it into the black pan with curved edges.", + "Use the right arm to grab the soft brown bread for the dark pan with sturdy grip", + "Grab the small golden brown bread from the table and set it in the black skillet with smooth base.", + "Use the right arm to grab the bread with warm golden color for the skillet with extended grip handle", + "Pick the small golden brown bread and set it into the smooth round pan made of iron.", + "Use the right arm to stick the bread with warm golden color into the round cooking pan.", + "Transfer the brown loaf into the round pan with hole in handle from the table", + "Take the bread with warm golden color off the table into the solid dark-colored round pan", + "Use the right arm to move the light brown bread with ridges and set it into the smooth round pan made of iron.", + "Use the right arm to set the bread with split top into the round cooking pan.", + "Take the hand-sized oval loaf and put it in the versatile skillet for stovetop cooking.", + "Lift the small golden brown bread using the right arm and move it to the black pan with curved edges", + "Use the right arm to take the bread with warm golden color and move it into the black skillet with smooth base.", + "Use the right arm to lift the light brown bread with ridges and place it into the black skillet with smooth base.", + "Use the right arm to pick the small loaf with curved top for the black pan with curved edges", + "Use the right arm to place the small loaf with curved top into the black skillet with smooth base", + "Take the light brown bread with ridges with the right arm and drop into the smooth round pan made of iron", + "Pick the bread with golden-brown crust and transfer it to the round pan with hole in handle", + "Use the right arm to move the hand-sized oval loaf into the dark pan with sturdy grip", + "Place the bread with golden-brown crust into the round cooking pan with the right arm.", + "Pick up the light brown bread with ridges with the right arm and drop it in the medium black pan with handle", + "Grab the small loaf with curved top and place it inside the black pan with curved edges.", + "Pick the light brown bread with ridges up using the right arm and drop it in the smooth round pan made of iron.", + "Grab the small golden brown bread using the right arm and place it in the smooth round pan made of iron", + "Grab the smooth loaf with rounded edges and stick it in the heavy black cooking skillet.", + "Lift the soft brown bread and drop it into the skillet with extended grip handle", + "Lift the golden bread loaf and drop it into the heavy black cooking skillet.", + "Use the right arm to pick the bread with warm golden color up for the flat-bottomed skillet with long handle", + "Pick the brown loaf with the right arm and set it in the black skillet with smooth base", + "Take the soft brown bread and place it inside the skillet with extended grip handle", + "Take the small golden brown bread and put it in the flat-bottomed skillet with long handle.", + "Use the right arm to grab the smooth loaf with rounded edges and set it in the dark pan with sturdy grip.", + "Place the soft brown bread into the skillet with extended grip handle using the right arm", + "Take the smooth loaf with rounded edges and place it inside the medium black pan with handle", + "Grab the light brown bread with ridges with the right arm and place in the flat-bottomed skillet with long handle", + "Place the bread with split top from the table into the solid dark-colored round pan", + "Set the bread with golden-brown crust into the smooth round pan made of iron after grabbing", + "Use the right arm to pick the light brown bread with ridges and put it in the black skillet with smooth base", + "Put the soft brown bread into the smooth round pan made of iron.", + "Pick up the light brown bread with ridges and place it in the skillet with extended grip handle.", + "Move the light brown loaf with smooth sides into the heavy black cooking skillet from the table", + "Grab the bread with warm golden color and drop it into the solid dark-colored round pan", + "Put the soft brown bread into the dark pan with sturdy grip after grabbing it", + "Pick the light brown bread with ridges off the table and place it in the round cooking pan.", + "Take the small golden brown bread and set it into the skillet with extended grip handle", + "Take the bread with warm golden color and drop it into the black pan with curved edges.", + "Grab the soft brown bread and place it inside the black skillet with smooth base", + "Move the small loaf with curved top from table into the black skillet with smooth base", + "Move the light brown loaf with smooth sides to the smooth round pan made of iron using the right arm", + "Pick up the soft brown bread and put it in the round pan with hole in handle" + ], + "unseen": [ + "Use the right arm to grab the oval bread and set it in the round cast-iron skillet", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Grab the oval bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the black skillet.", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to grab the rounded oval bread and set it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the iron skillet for frying foods.", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Pick the rounded oval bread up and place it in the black skillet", + "Use the right arm to move the oval-shaped soft bread to the black skillet.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the iron skillet for frying foods using the right arm.", + "Use the right arm to grab the oval bread and set it in the black skillet", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Grab the oval-shaped soft bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Pick up the oval bread and drop it into the round cast-iron skillet", + "Pick the rounded oval bread up and place it in the black skillet", + "Use the right arm to move the rounded oval bread to the black skillet.", + "Take the oval bread and put it in the black skillet", + "Move the oval bread to the black skillet using the right arm.", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it into the black skillet.", + "Grab the oval bread and place it in the black skillet", + "Grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval bread and drop it into the black skillet.", + "Pick up the oval-shaped soft bread and drop it into the round cast-iron skillet", + "Pick the rounded oval bread up and place it in the black skillet", + "Use the right arm to move the oval bread to the black skillet.", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Use the right arm to grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and place it into the black skillet.", + "Grab the oval bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the black skillet", + "Grab the oval-shaped soft bread and drop it into the iron skillet for frying foods.", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the iron skillet for frying foods", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Take the oval bread and put it in the round cast-iron skillet", + "Move the rounded oval bread to the black skillet using the right arm.", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval bread and place it into the round cast-iron skillet.", + "Grab the oval-shaped soft bread and place it in the iron skillet for frying foods", + "Grab the oval bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and drop it into the round cast-iron skillet.", + "Pick up the oval-shaped soft bread and drop it into the black skillet", + "Pick the rounded oval bread up and place it in the black skillet", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Take the oval-shaped soft bread and put it in the iron skillet for frying foods", + "Move the oval-shaped soft bread to the black skillet using the right arm.", + "Use the right arm to grab the oval-shaped soft bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Grab the rounded oval bread and drop it into the black skillet.", + "Pick up the rounded oval bread and drop it into the black skillet", + "Pick the rounded oval bread up and place it in the round cast-iron skillet", + "Use the right arm to move the oval bread to the black skillet.", + "Take the oval bread and put it in the iron skillet for frying foods", + "Move the rounded oval bread to the black skillet using the right arm.", + "Use the right arm to grab the rounded oval bread and set it in the iron skillet for frying foods", + "Grab the oval-shaped soft bread and place it into the round cast-iron skillet.", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and set it in the round cast-iron skillet", + "Grab the oval-shaped soft bread and drop it into the black skillet.", + "Pick up the rounded oval bread and drop it into the round cast-iron skillet", + "Pick the oval bread up and place it in the round cast-iron skillet", + "Use the right arm to move the oval bread to the round cast-iron skillet.", + "Take the oval bread and put it in the round cast-iron skillet", + "Move the rounded oval bread to the round cast-iron skillet using the right arm.", + "Use the right arm to grab the oval bread and set it in the iron skillet for frying foods", + "Grab the rounded oval bread and place it into the black skillet.", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the iron skillet for frying foods", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Pick up the rounded oval bread and drop it into the iron skillet for frying foods", + "Pick the oval-shaped soft bread up and place it in the black skillet", + "Use the right arm to move the oval bread to the black skillet.", + "Take the oval bread and put it in the round cast-iron skillet", + "Move the rounded oval bread to the black skillet using the right arm.", + "Use the right arm to grab the oval-shaped soft bread and set it in the black skillet", + "Grab the oval-shaped soft bread and place it into the iron skillet for frying foods.", + "Grab the rounded oval bread and place it in the round cast-iron skillet", + "Grab the rounded oval bread and set it in the round cast-iron skillet", + "Grab the oval bread and drop it into the round cast-iron skillet.", + "Pick up the oval bread and drop it into the iron skillet for frying foods", + "Pick the oval bread up and place it in the black skillet", + "Use the right arm to move the rounded oval bread to the round cast-iron skillet.", + "Take the rounded oval bread and put it in the iron skillet for frying foods", + "Move the rounded oval bread to the iron skillet for frying foods using the right arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode7.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode7.json new file mode 100644 index 0000000000000000000000000000000000000000..6a60a9531bd41d09419185dd841a4664a70c7cd5 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode7.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Grab the soft square bread using the left arm and place it in the round pan with hole in handle", + "Put the medium bread with rounded sides into the versatile skillet for stovetop cooking.", + "Grab the light brown porous bread with the left arm and place in the flat-bottomed skillet with long handle", + "Move the square-shaped bread piece into the versatile skillet for stovetop cooking from the table", + "Grab the bread with soft texture and place it inside the flat-bottomed skillet with long handle", + "Take the fluffy baked bread and place it inside the skillet with extended grip handle", + "Pick the fluffy baked bread and transfer it to the round pan with hole in handle", + "Place the rounded square loaf into the skillet with extended grip handle using the left arm", + "Take the rounded square loaf and drop it into the solid dark-colored round pan.", + "Pick the bread with soft texture with the left arm and set it in the round pan with hole in handle", + "Use the left arm to move the soft square bread into the dark pan with sturdy grip", + "Take the fluffy baked bread with the left arm and drop into the black pan with curved edges", + "Lift the golden brown bread and drop it into the round pan with hole in handle", + "Take the medium bread with rounded sides and place it inside the flat-bottomed skillet with long handle", + "Lift the golden brown bread using the left arm and move it to the medium black pan with handle", + "Grab the sponge-textured golden bread and stick it in the round cooking pan.", + "Use the left arm to pick the bread with rounded edges for the black pan with curved edges", + "Use the left arm to grab the golden brown bread and set it in the medium black pan with handle.", + "Pick up the golden baked bread and place it in the heavy black cooking skillet.", + "Use the left arm to place the soft square bread into the heavy black cooking skillet", + "Pick the golden baked bread up using the left arm and drop it in the black pan with curved edges.", + "Use the left arm to stick the fluffy baked bread into the black pan with curved edges.", + "Take the rounded square loaf and put it in the skillet with extended grip handle.", + "Place the soft square bread from the table into the skillet with extended grip handle", + "Grab the bread with rounded edges from the table and set it in the smooth round pan made of iron.", + "Pick the light brown porous bread and set it into the smooth round pan made of iron.", + "Take the medium-sized bread piece off the table into the flat-bottomed skillet with long handle", + "Place the rounded square loaf into the round cooking pan with the left arm.", + "Transfer the golden brown bread into the medium black pan with handle from the table", + "Take the rounded square loaf and put it in the flat-bottomed skillet with long handle.", + "Use the left arm to grab the square-shaped bread piece for the smooth round pan made of iron", + "Use the left arm to pick the rounded square loaf and place it into the smooth round pan made of iron.", + "Use the left arm to grab the golden baked bread for the heavy black cooking skillet", + "Use the left arm to pick the square-shaped bread piece and put it in the black skillet with smooth base", + "Move the medium bread with rounded sides to the flat-bottomed skillet with long handle using the left arm", + "Set the soft square bread into the black skillet with smooth base after grabbing", + "Use the left arm to pick the rounded square loaf up for the flat-bottomed skillet with long handle", + "Use the left arm to take the soft square bread and move it into the versatile skillet for stovetop cooking.", + "Pick the square-shaped bread piece off the table and place it in the solid dark-colored round pan.", + "Put the soft square bread into the smooth round pan made of iron after grabbing it", + "Take the fluffy baked bread and set it into the skillet with extended grip handle", + "Use the left arm to move the sponge-textured golden bread and set it into the round cooking pan.", + "Use the left arm to set the fluffy baked bread into the flat-bottomed skillet with long handle.", + "Lift the light brown porous bread and drop it into the versatile skillet for stovetop cooking.", + "Grab the medium bread with rounded sides and drop it into the round pan with hole in handle", + "Pick up the bread with soft texture with the left arm and drop it in the solid dark-colored round pan", + "Grab the bread with rounded edges and place it inside the solid dark-colored round pan.", + "Pick up the golden brown bread and put it in the skillet with extended grip handle", + "Move the bread with rounded edges from table into the round cooking pan", + "Use the left arm to lift the golden baked bread and place it into the versatile skillet for stovetop cooking.", + "Grab the rounded square loaf using the left arm and place it in the solid dark-colored round pan", + "Put the light brown porous bread into the flat-bottomed skillet with long handle.", + "Grab the square-shaped bread piece with the left arm and place in the skillet with extended grip handle", + "Move the golden brown bread into the black pan with curved edges from the table", + "Grab the sponge-textured golden bread and place it inside the round cooking pan", + "Take the light brown porous bread and place it inside the heavy black cooking skillet", + "Pick the bread with soft texture and transfer it to the black skillet with smooth base", + "Place the fluffy baked bread into the heavy black cooking skillet using the left arm", + "Take the square-shaped bread piece and drop it into the heavy black cooking skillet.", + "Pick the soft square bread with the left arm and set it in the heavy black cooking skillet", + "Use the left arm to move the medium-sized bread piece into the black skillet with smooth base", + "Take the fluffy baked bread with the left arm and drop into the solid dark-colored round pan", + "Lift the bread with soft texture and drop it into the medium black pan with handle", + "Take the golden baked bread and place it inside the black skillet with smooth base", + "Lift the bread with rounded edges using the left arm and move it to the round pan with hole in handle", + "Grab the sponge-textured golden bread and stick it in the smooth round pan made of iron.", + "Use the left arm to pick the bread with rounded edges for the black pan with curved edges", + "Use the left arm to grab the bread with soft texture and set it in the medium black pan with handle.", + "Pick up the light brown porous bread and place it in the heavy black cooking skillet.", + "Use the left arm to place the fluffy baked bread into the round cooking pan", + "Pick the medium-sized bread piece up using the left arm and drop it in the skillet with extended grip handle.", + "Use the left arm to stick the golden baked bread into the skillet with extended grip handle.", + "Take the square-shaped bread piece and put it in the smooth round pan made of iron.", + "Place the sponge-textured golden bread from the table into the round pan with hole in handle", + "Grab the soft square bread from the table and set it in the skillet with extended grip handle.", + "Pick the bread with rounded edges and set it into the flat-bottomed skillet with long handle.", + "Take the soft square bread off the table into the heavy black cooking skillet", + "Place the light brown porous bread into the smooth round pan made of iron with the left arm.", + "Transfer the rounded square loaf into the round pan with hole in handle from the table", + "Take the rounded square loaf and put it in the smooth round pan made of iron.", + "Use the left arm to grab the square-shaped bread piece for the smooth round pan made of iron", + "Use the left arm to pick the golden brown bread and place it into the flat-bottomed skillet with long handle.", + "Use the left arm to grab the rounded square loaf for the skillet with extended grip handle", + "Use the left arm to pick the light brown porous bread and put it in the round pan with hole in handle", + "Move the soft square bread to the round cooking pan using the left arm", + "Set the golden baked bread into the skillet with extended grip handle after grabbing", + "Use the left arm to pick the medium bread with rounded sides up for the medium black pan with handle", + "Use the left arm to take the fluffy baked bread and move it into the black pan with curved edges.", + "Pick the square-shaped bread piece off the table and place it in the round cooking pan.", + "Put the bread with soft texture into the skillet with extended grip handle after grabbing it", + "Take the golden brown bread and set it into the solid dark-colored round pan", + "Use the left arm to move the square-shaped bread piece and set it into the flat-bottomed skillet with long handle.", + "Use the left arm to set the rounded square loaf into the round pan with hole in handle.", + "Lift the soft square bread and drop it into the versatile skillet for stovetop cooking.", + "Grab the medium bread with rounded sides and drop it into the versatile skillet for stovetop cooking", + "Pick up the medium-sized bread piece with the left arm and drop it in the black pan with curved edges", + "Grab the golden baked bread and place it inside the skillet with extended grip handle.", + "Pick up the bread with soft texture and put it in the medium black pan with handle", + "Move the medium bread with rounded sides from table into the black pan with curved edges", + "Use the left arm to lift the bread with soft texture and place it into the black skillet with smooth base." + ], + "unseen": [ + "Pick the soft bread with golden edges up and place it in the black skillet", + "Use the left arm to move the square bread with light spots to the black skillet.", + "Grab the square bread with light spots and place it in the black skillet", + "Take the soft bread with golden edges and put it in the iron skillet for frying foods", + "Grab the soft bread with golden edges and place it into the iron skillet for frying foods.", + "Pick up the square bread with light spots and drop it into the black skillet", + "Grab the spongy golden brown bread and drop it into the iron skillet for frying foods.", + "Use the left arm to grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Move the soft bread with golden edges to the iron skillet for frying foods using the left arm.", + "Pick the square bread with light spots up and place it in the iron skillet for frying foods", + "Use the left arm to move the spongy golden brown bread to the round cast-iron skillet.", + "Grab the square bread with light spots and place it in the round cast-iron skillet", + "Take the spongy golden brown bread and put it in the iron skillet for frying foods", + "Grab the soft bread with golden edges and place it into the iron skillet for frying foods.", + "Pick up the square bread with light spots and drop it into the round cast-iron skillet", + "Grab the soft bread with golden edges and drop it into the round cast-iron skillet.", + "Use the left arm to grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Move the soft bread with golden edges to the iron skillet for frying foods using the left arm.", + "Pick the spongy golden brown bread up and place it in the iron skillet for frying foods", + "Use the left arm to move the spongy golden brown bread to the black skillet.", + "Grab the soft bread with golden edges and place it in the black skillet", + "Take the spongy golden brown bread and put it in the round cast-iron skillet", + "Grab the spongy golden brown bread and place it into the black skillet.", + "Pick up the square bread with light spots and drop it into the black skillet", + "Grab the spongy golden brown bread and drop it into the black skillet.", + "Use the left arm to grab the square bread with light spots and set it in the black skillet", + "Grab the soft bread with golden edges and set it in the iron skillet for frying foods", + "Move the spongy golden brown bread to the black skillet using the left arm.", + "Pick the square bread with light spots up and place it in the black skillet", + "Use the left arm to move the square bread with light spots to the iron skillet for frying foods.", + "Grab the spongy golden brown bread and place it in the iron skillet for frying foods", + "Take the square bread with light spots and put it in the black skillet", + "Grab the square bread with light spots and place it into the black skillet.", + "Pick up the spongy golden brown bread and drop it into the black skillet", + "Grab the square bread with light spots and drop it into the round cast-iron skillet.", + "Use the left arm to grab the spongy golden brown bread and set it in the black skillet", + "Grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Move the square bread with light spots to the iron skillet for frying foods using the left arm.", + "Pick the spongy golden brown bread up and place it in the black skillet", + "Use the left arm to move the square bread with light spots to the round cast-iron skillet.", + "Grab the soft bread with golden edges and place it in the iron skillet for frying foods", + "Take the soft bread with golden edges and put it in the black skillet", + "Grab the spongy golden brown bread and place it into the round cast-iron skillet.", + "Pick up the square bread with light spots and drop it into the round cast-iron skillet", + "Grab the soft bread with golden edges and drop it into the black skillet.", + "Use the left arm to grab the soft bread with golden edges and set it in the black skillet", + "Grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Move the spongy golden brown bread to the black skillet using the left arm.", + "Pick the square bread with light spots up and place it in the black skillet", + "Use the left arm to move the square bread with light spots to the black skillet.", + "Grab the square bread with light spots and place it in the iron skillet for frying foods", + "Take the soft bread with golden edges and put it in the iron skillet for frying foods", + "Grab the square bread with light spots and place it into the black skillet.", + "Pick up the soft bread with golden edges and drop it into the black skillet", + "Grab the soft bread with golden edges and drop it into the round cast-iron skillet.", + "Use the left arm to grab the spongy golden brown bread and set it in the black skillet", + "Grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Move the square bread with light spots to the iron skillet for frying foods using the left arm.", + "Pick the square bread with light spots up and place it in the round cast-iron skillet", + "Use the left arm to move the spongy golden brown bread to the round cast-iron skillet.", + "Grab the square bread with light spots and place it in the black skillet", + "Take the soft bread with golden edges and put it in the round cast-iron skillet", + "Grab the square bread with light spots and place it into the iron skillet for frying foods.", + "Pick up the spongy golden brown bread and drop it into the iron skillet for frying foods", + "Grab the soft bread with golden edges and drop it into the iron skillet for frying foods.", + "Use the left arm to grab the spongy golden brown bread and set it in the iron skillet for frying foods", + "Grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Move the spongy golden brown bread to the round cast-iron skillet using the left arm.", + "Pick the soft bread with golden edges up and place it in the round cast-iron skillet", + "Use the left arm to move the square bread with light spots to the black skillet.", + "Grab the spongy golden brown bread and place it in the round cast-iron skillet", + "Take the square bread with light spots and put it in the round cast-iron skillet", + "Grab the soft bread with golden edges and place it into the iron skillet for frying foods.", + "Pick up the spongy golden brown bread and drop it into the black skillet", + "Grab the spongy golden brown bread and drop it into the black skillet.", + "Use the left arm to grab the square bread with light spots and set it in the round cast-iron skillet", + "Grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Move the soft bread with golden edges to the round cast-iron skillet using the left arm.", + "Pick the soft bread with golden edges up and place it in the iron skillet for frying foods", + "Use the left arm to move the square bread with light spots to the iron skillet for frying foods.", + "Grab the spongy golden brown bread and place it in the black skillet", + "Take the spongy golden brown bread and put it in the round cast-iron skillet", + "Grab the square bread with light spots and place it into the black skillet.", + "Pick up the spongy golden brown bread and drop it into the black skillet", + "Grab the square bread with light spots and drop it into the round cast-iron skillet.", + "Use the left arm to grab the spongy golden brown bread and set it in the round cast-iron skillet", + "Grab the spongy golden brown bread and set it in the black skillet", + "Move the spongy golden brown bread to the black skillet using the left arm.", + "Pick the square bread with light spots up and place it in the round cast-iron skillet", + "Use the left arm to move the square bread with light spots to the iron skillet for frying foods.", + "Grab the spongy golden brown bread and place it in the round cast-iron skillet", + "Take the soft bread with golden edges and put it in the iron skillet for frying foods", + "Grab the spongy golden brown bread and place it into the round cast-iron skillet.", + "Pick up the spongy golden brown bread and drop it into the round cast-iron skillet", + "Grab the spongy golden brown bread and drop it into the black skillet.", + "Use the left arm to grab the soft bread with golden edges and set it in the round cast-iron skillet", + "Grab the square bread with light spots and set it in the iron skillet for frying foods", + "Move the soft bread with golden edges to the iron skillet for frying foods using the left arm." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode8.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode8.json new file mode 100644 index 0000000000000000000000000000000000000000..9ca617283483051630e05bc0a1302c2e4203936c --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode8.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Pick the round bread with crusty texture off the table and place it in the smooth cast iron skillet.", + "Put the golden brown bread with braided design into the smooth cast iron skillet.", + "Lift the smooth crusty small bread using the left arm and move it to the smooth round cooking skillet", + "Use the left arm to set the soft golden bread into the gray pan.", + "Use the left arm to grab the golden brown bread with braided design for the hefty black skillet", + "Use the left arm to stick the soft doughy bread into the gray cooking pan with handle.", + "Place the golden brown bread from the table into the medium round cast iron skillet", + "Transfer the round bread with braided top into the gray cooking pan with handle from the table", + "Pick up the golden brown bread and place it in the skillet for cooking.", + "Place the soft doughy bread into the gray pan using the left arm", + "Take the small golden baked bread and put it in the hefty black skillet.", + "Use the left arm to move the braided bread loaf into the smooth cast iron skillet", + "Put the golden bread loaf with soft inside into the dark gray skillet after grabbing it", + "Grab the soft doughy bread from the table and set it in the gray pan.", + "Use the left arm to lift the braided bread loaf and place it into the medium skillet.", + "Use the left arm to take the golden bread loaf with soft inside and move it into the gray pan.", + "Take the bread with golden crust and put it in the gray cooking pan with handle.", + "Take the small bread and set it into the skillet for cooking", + "Use the left arm to grab the soft doughy bread for the hefty black skillet", + "Use the left arm to pick the round bread with braided top and put it in the pan with dark finish", + "Grab the golden brown bread with the left arm and place in the medium round cast iron skillet", + "Move the smooth crusty small bread to the medium skillet using the left arm", + "Use the left arm to move the round bread with crusty texture and set it into the gray pan.", + "Use the left arm to pick the round bread with crusty texture for the dark gray skillet", + "Use the left arm to place the bread with golden crust into the hefty black skillet", + "Use the left arm to pick the soft doughy bread and place it into the skillet for cooking.", + "Take the golden brown bread off the table into the smooth round cooking skillet", + "Lift the round bread with crusty texture and drop it into the smooth round cooking skillet.", + "Set the soft doughy bread into the medium skillet after grabbing", + "Pick the round bread with braided top and transfer it to the smooth cast iron skillet", + "Move the small golden baked bread from table into the round skillet with handle", + "Use the left arm to pick the soft doughy bread up for the medium skillet", + "Use the left arm to grab the golden brown bread and set it in the smooth cast iron skillet.", + "Take the round bread with crusty texture and place it inside the pan with dark finish", + "Grab the round bread with braided top and stick it in the smooth round cooking skillet.", + "Move the soft golden bread into the gray pan from the table", + "Pick up the small bread with the left arm and drop it in the dark gray skillet", + "Pick the soft golden bread and set it into the gray cooking pan with handle.", + "Take the round bread with crusty texture and place it inside the medium skillet", + "Grab the bread with golden crust and place it inside the gray cooking pan with handle.", + "Take the golden brown bread with braided design with the left arm and drop into the gray pan", + "Grab the golden bread loaf with soft inside and place it inside the gray pan", + "Pick up the smooth crusty small bread and put it in the skillet for cooking", + "Grab the round bread with crusty texture using the left arm and place it in the skillet for cooking", + "Grab the golden brown bread with braided design and drop it into the gray pan", + "Place the soft golden bread into the dark gray skillet with the left arm.", + "Lift the braided bread loaf and drop it into the medium skillet", + "Pick the golden brown bread up using the left arm and drop it in the rounded skillet with a holey handle.", + "Pick the golden brown bread with the left arm and set it in the round skillet with handle", + "Take the round bread with braided top and drop it into the gray pan.", + "Pick the bread with golden crust off the table and place it in the hefty black skillet.", + "Put the soft golden bread into the gray pan.", + "Lift the small bread using the left arm and move it to the hefty black skillet", + "Use the left arm to set the smooth crusty small bread into the rounded skillet with a holey handle.", + "Use the left arm to grab the golden brown bread for the gray cooking pan with handle", + "Use the left arm to stick the golden brown bread with braided design into the round skillet with handle.", + "Place the small golden baked bread from the table into the skillet for cooking", + "Transfer the golden brown bread with braided design into the gray cooking pan with handle from the table", + "Pick up the braided bread loaf and place it in the smooth cast iron skillet.", + "Place the soft golden bread into the skillet for cooking using the left arm", + "Take the round bread with crusty texture and put it in the gray cooking pan with handle.", + "Use the left arm to move the braided bread loaf into the gray cooking pan with handle", + "Put the smooth crusty small bread into the hefty black skillet after grabbing it", + "Grab the golden brown bread from the table and set it in the hefty black skillet.", + "Use the left arm to lift the round bread with braided top and place it into the medium skillet.", + "Use the left arm to take the soft doughy bread and move it into the pan with dark finish.", + "Take the small bread and put it in the rounded skillet with a holey handle.", + "Take the round bread with crusty texture and set it into the medium skillet", + "Use the left arm to grab the braided bread loaf for the gray cooking pan with handle", + "Use the left arm to pick the soft doughy bread and put it in the skillet for cooking", + "Grab the round bread with crusty texture with the left arm and place in the gray pan", + "Move the round bread with braided top to the gray cooking pan with handle using the left arm", + "Use the left arm to move the smooth crusty small bread and set it into the rounded skillet with a holey handle.", + "Use the left arm to pick the smooth crusty small bread for the smooth round cooking skillet", + "Use the left arm to place the smooth crusty small bread into the round skillet with handle", + "Use the left arm to pick the bread with golden crust and place it into the hefty black skillet.", + "Take the smooth crusty small bread off the table into the pan with dark finish", + "Lift the golden bread loaf with soft inside and drop it into the smooth cast iron skillet.", + "Set the smooth crusty small bread into the round skillet with handle after grabbing", + "Pick the round bread with crusty texture and transfer it to the skillet for cooking", + "Move the soft doughy bread from table into the skillet for cooking", + "Use the left arm to pick the smooth crusty small bread up for the dark gray skillet", + "Use the left arm to grab the round bread with braided top and set it in the round skillet with handle.", + "Take the braided bread loaf and place it inside the medium round cast iron skillet", + "Grab the golden bread loaf with soft inside and stick it in the gray cooking pan with handle.", + "Move the round bread with crusty texture into the gray pan from the table", + "Pick up the small golden baked bread with the left arm and drop it in the smooth round cooking skillet", + "Pick the soft golden bread and set it into the smooth cast iron skillet.", + "Take the soft doughy bread and place it inside the dark gray skillet", + "Grab the small golden baked bread and place it inside the smooth cast iron skillet.", + "Take the soft doughy bread with the left arm and drop into the round skillet with handle", + "Grab the soft doughy bread and place it inside the medium round cast iron skillet", + "Pick up the soft doughy bread and put it in the medium round cast iron skillet", + "Grab the small bread using the left arm and place it in the pan with dark finish", + "Grab the small bread and drop it into the dark gray skillet", + "Place the round bread with braided top into the hefty black skillet with the left arm.", + "Lift the braided bread loaf and drop it into the hefty black skillet", + "Pick the golden brown bread up using the left arm and drop it in the smooth cast iron skillet.", + "Pick the small bread with the left arm and set it in the medium skillet", + "Take the round bread with braided top and drop it into the pan with dark finish." + ], + "unseen": [ + "Grab the palm-sized braided golden bread and place it in the dark gray round cast iron pan", + "Pick up the palm-sized braided golden bread and drop it into the blackish-gray cast iron skillet", + "Move the round braided loaf to the blackish-gray cast iron skillet using the left arm.", + "Grab the round braided loaf and place it into the blackish-gray cast iron skillet.", + "Take the round braided loaf and put it in the cooking skillet with grippy handle", + "Pick the palm-sized braided golden bread up and place it in the dark gray round cast iron pan", + "Use the left arm to move the round braided loaf to the dark gray round cast iron pan.", + "Grab the palm-sized braided golden bread and set it in the blackish-gray cast iron skillet", + "Use the left arm to grab the palm-sized braided golden bread and set it in the dark gray round cast iron pan", + "Grab the braided top round bread and drop it into the dark gray round cast iron pan.", + "Grab the palm-sized braided golden bread and place it in the blackish-gray cast iron skillet", + "Pick up the round braided loaf and drop it into the blackish-gray cast iron skillet", + "Move the braided top round bread to the dark gray round cast iron pan using the left arm.", + "Grab the round braided loaf and place it into the dark gray round cast iron pan.", + "Take the round braided loaf and put it in the blackish-gray cast iron skillet", + "Pick the braided top round bread up and place it in the dark gray round cast iron pan", + "Use the left arm to move the palm-sized braided golden bread to the dark gray round cast iron pan.", + "Grab the palm-sized braided golden bread and set it in the blackish-gray cast iron skillet", + "Use the left arm to grab the braided top round bread and set it in the cooking skillet with grippy handle", + "Grab the round braided loaf and drop it into the dark gray round cast iron pan.", + "Grab the braided top round bread and place it in the cooking skillet with grippy handle", + "Pick up the braided top round bread and drop it into the cooking skillet with grippy handle", + "Move the braided top round bread to the dark gray round cast iron pan using the left arm.", + "Grab the round braided loaf and place it into the cooking skillet with grippy handle.", + "Take the round braided loaf and put it in the dark gray round cast iron pan", + "Pick the braided top round bread up and place it in the dark gray round cast iron pan", + "Use the left arm to move the palm-sized braided golden bread to the dark gray round cast iron pan.", + "Grab the braided top round bread and set it in the dark gray round cast iron pan", + "Use the left arm to grab the palm-sized braided golden bread and set it in the dark gray round cast iron pan", + "Grab the palm-sized braided golden bread and drop it into the cooking skillet with grippy handle.", + "Grab the braided top round bread and place it in the cooking skillet with grippy handle", + "Pick up the braided top round bread and drop it into the cooking skillet with grippy handle", + "Move the round braided loaf to the cooking skillet with grippy handle using the left arm.", + "Grab the round braided loaf and place it into the dark gray round cast iron pan.", + "Take the round braided loaf and put it in the dark gray round cast iron pan", + "Pick the braided top round bread up and place it in the cooking skillet with grippy handle", + "Use the left arm to move the round braided loaf to the blackish-gray cast iron skillet.", + "Grab the palm-sized braided golden bread and set it in the blackish-gray cast iron skillet", + "Use the left arm to grab the braided top round bread and set it in the blackish-gray cast iron skillet", + "Grab the round braided loaf and drop it into the cooking skillet with grippy handle.", + "Grab the braided top round bread and place it in the blackish-gray cast iron skillet", + "Pick up the round braided loaf and drop it into the cooking skillet with grippy handle", + "Move the round braided loaf to the blackish-gray cast iron skillet using the left arm.", + "Grab the braided top round bread and place it into the dark gray round cast iron pan.", + "Take the palm-sized braided golden bread and put it in the blackish-gray cast iron skillet", + "Pick the round braided loaf up and place it in the blackish-gray cast iron skillet", + "Use the left arm to move the braided top round bread to the blackish-gray cast iron skillet.", + "Grab the round braided loaf and set it in the dark gray round cast iron pan", + "Use the left arm to grab the braided top round bread and set it in the dark gray round cast iron pan", + "Grab the round braided loaf and drop it into the blackish-gray cast iron skillet.", + "Grab the round braided loaf and place it in the cooking skillet with grippy handle", + "Pick up the round braided loaf and drop it into the cooking skillet with grippy handle", + "Move the round braided loaf to the dark gray round cast iron pan using the left arm.", + "Grab the palm-sized braided golden bread and place it into the dark gray round cast iron pan.", + "Take the braided top round bread and put it in the blackish-gray cast iron skillet", + "Pick the braided top round bread up and place it in the blackish-gray cast iron skillet", + "Use the left arm to move the braided top round bread to the cooking skillet with grippy handle.", + "Grab the round braided loaf and set it in the dark gray round cast iron pan", + "Use the left arm to grab the palm-sized braided golden bread and set it in the cooking skillet with grippy handle", + "Grab the palm-sized braided golden bread and drop it into the dark gray round cast iron pan.", + "Grab the palm-sized braided golden bread and place it in the dark gray round cast iron pan", + "Pick up the palm-sized braided golden bread and drop it into the dark gray round cast iron pan", + "Move the braided top round bread to the cooking skillet with grippy handle using the left arm.", + "Grab the braided top round bread and place it into the cooking skillet with grippy handle.", + "Take the palm-sized braided golden bread and put it in the dark gray round cast iron pan", + "Pick the braided top round bread up and place it in the blackish-gray cast iron skillet", + "Use the left arm to move the round braided loaf to the cooking skillet with grippy handle.", + "Grab the braided top round bread and set it in the cooking skillet with grippy handle", + "Use the left arm to grab the round braided loaf and set it in the blackish-gray cast iron skillet", + "Grab the braided top round bread and drop it into the cooking skillet with grippy handle.", + "Grab the round braided loaf and place it in the dark gray round cast iron pan", + "Pick up the round braided loaf and drop it into the blackish-gray cast iron skillet", + "Move the round braided loaf to the dark gray round cast iron pan using the left arm.", + "Grab the braided top round bread and place it into the cooking skillet with grippy handle.", + "Take the palm-sized braided golden bread and put it in the cooking skillet with grippy handle", + "Pick the round braided loaf up and place it in the blackish-gray cast iron skillet", + "Use the left arm to move the round braided loaf to the blackish-gray cast iron skillet.", + "Grab the round braided loaf and set it in the dark gray round cast iron pan", + "Use the left arm to grab the braided top round bread and set it in the blackish-gray cast iron skillet", + "Grab the round braided loaf and drop it into the blackish-gray cast iron skillet.", + "Grab the palm-sized braided golden bread and place it in the cooking skillet with grippy handle", + "Pick up the palm-sized braided golden bread and drop it into the blackish-gray cast iron skillet", + "Move the palm-sized braided golden bread to the blackish-gray cast iron skillet using the left arm.", + "Grab the round braided loaf and place it into the blackish-gray cast iron skillet.", + "Take the palm-sized braided golden bread and put it in the cooking skillet with grippy handle", + "Pick the round braided loaf up and place it in the blackish-gray cast iron skillet", + "Use the left arm to move the palm-sized braided golden bread to the cooking skillet with grippy handle.", + "Grab the braided top round bread and set it in the blackish-gray cast iron skillet", + "Use the left arm to grab the round braided loaf and set it in the blackish-gray cast iron skillet", + "Grab the round braided loaf and drop it into the blackish-gray cast iron skillet.", + "Grab the palm-sized braided golden bread and place it in the blackish-gray cast iron skillet", + "Pick up the round braided loaf and drop it into the blackish-gray cast iron skillet", + "Move the palm-sized braided golden bread to the dark gray round cast iron pan using the left arm.", + "Grab the round braided loaf and place it into the blackish-gray cast iron skillet.", + "Take the round braided loaf and put it in the dark gray round cast iron pan", + "Pick the round braided loaf up and place it in the cooking skillet with grippy handle", + "Use the left arm to move the palm-sized braided golden bread to the blackish-gray cast iron skillet.", + "Grab the palm-sized braided golden bread and set it in the cooking skillet with grippy handle", + "Use the left arm to grab the palm-sized braided golden bread and set it in the cooking skillet with grippy handle", + "Grab the braided top round bread and drop it into the blackish-gray cast iron skillet." + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode9.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode9.json new file mode 100644 index 0000000000000000000000000000000000000000..2aa1f4b1e207b346967afb26d589a621bacef290 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/instructions/episode9.json @@ -0,0 +1,206 @@ +{ + "seen": [ + "Use the left arm to grab the bread block with light patches and set it in the dark pan with sturdy grip.", + "Use the left arm to move the bread loaf with uneven edges into the flat-bottomed skillet with long handle", + "Grab the square-shaped bread and place it inside the heavy black cooking skillet", + "Pick the bread loaf with bumpy surface off the table and place it in the black skillet with smooth base.", + "Take the bread block with light patches and place it inside the dark pan with sturdy grip", + "Use the left arm to pick the bread loaf with uneven edges up for the solid dark-colored round pan", + "Pick the square-shaped bread and set it into the versatile skillet for stovetop cooking.", + "Use the left arm to place the hand-sized bread block into the flat-bottomed skillet with long handle", + "Grab the soft bread and stick it in the dark pan with sturdy grip.", + "Place the golden bread from the table into the round pan with hole in handle", + "Set the hand-sized bread block into the versatile skillet for stovetop cooking after grabbing", + "Transfer the hand-sized bread block into the round pan with hole in handle from the table", + "Lift the doughy and soft bread using the left arm and move it to the smooth round pan made of iron", + "Lift the golden bread loaf and drop it into the dark pan with sturdy grip.", + "Place the bread loaf with bumpy surface into the black skillet with smooth base using the left arm", + "Put the golden bread into the skillet with extended grip handle.", + "Use the left arm to lift the bread loaf with uneven edges and place it into the flat-bottomed skillet with long handle.", + "Move the light golden brown bread into the flat-bottomed skillet with long handle from the table", + "Take the golden bread and put it in the round pan with hole in handle.", + "Move the golden bread loaf to the black pan with curved edges using the left arm", + "Use the left arm to stick the golden bread into the solid dark-colored round pan.", + "Use the left arm to grab the light golden brown bread for the smooth round pan made of iron", + "Take the bread block with light patches with the left arm and drop into the dark pan with sturdy grip", + "Grab the bread loaf with uneven edges and place it inside the medium black pan with handle.", + "Pick the doughy and soft bread with the left arm and set it in the heavy black cooking skillet", + "Use the left arm to take the light golden brown bread and move it into the black pan with curved edges.", + "Grab the hand-sized bread block from the table and set it in the medium black pan with handle.", + "Lift the doughy and soft bread and drop it into the flat-bottomed skillet with long handle", + "Use the left arm to set the golden bread into the round cooking pan.", + "Pick up the hand-sized bread block with the left arm and drop it in the solid dark-colored round pan", + "Use the left arm to pick the bread loaf with bumpy surface and put it in the smooth round pan made of iron", + "Put the bread loaf with bumpy surface into the medium black pan with handle after grabbing it", + "Use the left arm to pick the bread with rough texture and place it into the round cooking pan.", + "Use the left arm to grab the bread loaf with uneven edges for the skillet with extended grip handle", + "Take the hand-sized bread block and place it inside the solid dark-colored round pan", + "Grab the bread block with light patches with the left arm and place in the skillet with extended grip handle", + "Pick up the golden bread and put it in the round cooking pan", + "Take the doughy and soft bread off the table into the versatile skillet for stovetop cooking", + "Take the doughy and soft bread and put it in the smooth round pan made of iron.", + "Pick the bread with rough texture up using the left arm and drop it in the round cooking pan.", + "Move the cuboid bread from table into the skillet with extended grip handle", + "Grab the golden bread loaf using the left arm and place it in the medium black pan with handle", + "Pick up the hand-sized bread block and place it in the black pan with curved edges.", + "Pick the hand-sized bread block and transfer it to the skillet with extended grip handle", + "Use the left arm to pick the bread loaf with uneven edges for the round cooking pan", + "Use the left arm to move the hand-sized bread block and set it into the heavy black cooking skillet.", + "Grab the doughy and soft bread and drop it into the smooth round pan made of iron", + "Place the doughy and soft bread into the solid dark-colored round pan with the left arm.", + "Take the golden bread loaf and drop it into the round pan with hole in handle.", + "Take the square-shaped bread and set it into the medium black pan with handle", + "Use the left arm to grab the bread loaf with uneven edges and set it in the flat-bottomed skillet with long handle.", + "Use the left arm to move the soft bread into the black skillet with smooth base", + "Grab the bread loaf with bumpy surface and place it inside the flat-bottomed skillet with long handle", + "Pick the square-shaped bread off the table and place it in the solid dark-colored round pan.", + "Take the bread loaf with bumpy surface and place it inside the skillet with extended grip handle", + "Use the left arm to pick the cuboid bread up for the heavy black cooking skillet", + "Pick the bread block with light patches and set it into the round pan with hole in handle.", + "Use the left arm to place the bread loaf with uneven edges into the versatile skillet for stovetop cooking", + "Grab the bread block with light patches and stick it in the smooth round pan made of iron.", + "Place the light golden brown bread from the table into the black pan with curved edges", + "Set the bread block with light patches into the heavy black cooking skillet after grabbing", + "Transfer the golden bread loaf into the flat-bottomed skillet with long handle from the table", + "Lift the golden bread using the left arm and move it to the smooth round pan made of iron", + "Lift the light golden brown bread and drop it into the skillet with extended grip handle.", + "Place the doughy and soft bread into the round cooking pan using the left arm", + "Put the bread block with light patches into the dark pan with sturdy grip.", + "Use the left arm to lift the doughy and soft bread and place it into the medium black pan with handle.", + "Move the doughy and soft bread into the round pan with hole in handle from the table", + "Take the golden bread and put it in the flat-bottomed skillet with long handle.", + "Move the light golden brown bread to the skillet with extended grip handle using the left arm", + "Use the left arm to stick the doughy and soft bread into the black skillet with smooth base.", + "Use the left arm to grab the square-shaped bread for the round cooking pan", + "Take the soft bread with the left arm and drop into the heavy black cooking skillet", + "Grab the soft bread and place it inside the flat-bottomed skillet with long handle.", + "Pick the hand-sized bread block with the left arm and set it in the round pan with hole in handle", + "Use the left arm to take the cuboid bread and move it into the solid dark-colored round pan.", + "Grab the hand-sized bread block from the table and set it in the round pan with hole in handle.", + "Lift the bread loaf with uneven edges and drop it into the round cooking pan", + "Use the left arm to set the doughy and soft bread into the flat-bottomed skillet with long handle.", + "Pick up the golden bread loaf with the left arm and drop it in the smooth round pan made of iron", + "Use the left arm to pick the hand-sized bread block and put it in the round pan with hole in handle", + "Put the square-shaped bread into the versatile skillet for stovetop cooking after grabbing it", + "Use the left arm to pick the soft bread and place it into the heavy black cooking skillet.", + "Use the left arm to grab the cuboid bread for the heavy black cooking skillet", + "Take the golden bread and place it inside the flat-bottomed skillet with long handle", + "Grab the hand-sized bread block with the left arm and place in the heavy black cooking skillet", + "Pick up the hand-sized bread block and put it in the skillet with extended grip handle", + "Take the bread loaf with uneven edges off the table into the dark pan with sturdy grip", + "Take the doughy and soft bread and put it in the dark pan with sturdy grip.", + "Pick the doughy and soft bread up using the left arm and drop it in the round cooking pan.", + "Move the square-shaped bread from table into the versatile skillet for stovetop cooking", + "Grab the cuboid bread using the left arm and place it in the skillet with extended grip handle", + "Pick up the doughy and soft bread and place it in the versatile skillet for stovetop cooking.", + "Pick the hand-sized bread block and transfer it to the black skillet with smooth base", + "Use the left arm to pick the hand-sized bread block for the heavy black cooking skillet", + "Use the left arm to move the cuboid bread and set it into the dark pan with sturdy grip.", + "Grab the bread loaf with bumpy surface and drop it into the round cooking pan", + "Place the golden bread loaf into the smooth round pan made of iron with the left arm.", + "Take the bread block with light patches and drop it into the versatile skillet for stovetop cooking.", + "Take the bread loaf with uneven edges and set it into the flat-bottomed skillet with long handle" + ], + "unseen": [ + "Use the left arm to move the bread loaf with soft surface to the iron skillet for frying foods.", + "Move the bread with golden crust to the black skillet using the left arm.", + "Grab the rectangular bread loaf and place it into the black skillet.", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Use the left arm to grab the rectangular bread loaf and set it in the black skillet", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Take the bread loaf with soft surface and put it in the iron skillet for frying foods", + "Use the left arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Move the bread loaf with soft surface to the iron skillet for frying foods using the left arm.", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Grab the bread with golden crust and place it in the black skillet", + "Use the left arm to grab the bread loaf with soft surface and set it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the round cast-iron skillet", + "Pick the bread loaf with soft surface up and place it in the round cast-iron skillet", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Take the rectangular bread loaf and put it in the round cast-iron skillet", + "Use the left arm to move the bread loaf with soft surface to the black skillet.", + "Move the rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Grab the bread loaf with soft surface and place it in the iron skillet for frying foods", + "Use the left arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Pick the bread loaf with soft surface up and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Take the rectangular bread loaf and put it in the iron skillet for frying foods", + "Use the left arm to move the bread loaf with soft surface to the round cast-iron skillet.", + "Move the bread with golden crust to the black skillet using the left arm.", + "Grab the bread with golden crust and place it into the iron skillet for frying foods.", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Use the left arm to grab the bread with golden crust and set it in the round cast-iron skillet", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Pick the bread with golden crust up and place it in the round cast-iron skillet", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and drop it into the iron skillet for frying foods.", + "Take the bread with golden crust and put it in the iron skillet for frying foods", + "Use the left arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Move the rectangular bread loaf to the round cast-iron skillet using the left arm.", + "Grab the rectangular bread loaf and place it into the black skillet.", + "Grab the bread loaf with soft surface and place it in the iron skillet for frying foods", + "Use the left arm to grab the rectangular bread loaf and set it in the black skillet", + "Pick up the bread loaf with soft surface and drop it into the iron skillet for frying foods", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Grab the rectangular bread loaf and set it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Take the rectangular bread loaf and put it in the black skillet", + "Use the left arm to move the bread loaf with soft surface to the iron skillet for frying foods.", + "Move the bread loaf with soft surface to the iron skillet for frying foods using the left arm.", + "Grab the bread with golden crust and place it into the black skillet.", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Use the left arm to grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Pick up the bread loaf with soft surface and drop it into the round cast-iron skillet", + "Pick the rectangular bread loaf up and place it in the black skillet", + "Grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the bread with golden crust and drop it into the black skillet.", + "Take the bread with golden crust and put it in the black skillet", + "Use the left arm to move the bread loaf with soft surface to the iron skillet for frying foods.", + "Move the rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Grab the bread with golden crust and place it in the round cast-iron skillet", + "Use the left arm to grab the bread loaf with soft surface and set it in the black skillet", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Pick the rectangular bread loaf up and place it in the round cast-iron skillet", + "Grab the bread loaf with soft surface and set it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and drop it into the iron skillet for frying foods.", + "Take the rectangular bread loaf and put it in the iron skillet for frying foods", + "Use the left arm to move the rectangular bread loaf to the iron skillet for frying foods.", + "Move the bread with golden crust to the round cast-iron skillet using the left arm.", + "Grab the bread loaf with soft surface and place it into the round cast-iron skillet.", + "Grab the bread loaf with soft surface and place it in the black skillet", + "Use the left arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Pick up the bread loaf with soft surface and drop it into the black skillet", + "Pick the bread with golden crust up and place it in the iron skillet for frying foods", + "Grab the bread with golden crust and set it in the iron skillet for frying foods", + "Grab the bread with golden crust and drop it into the round cast-iron skillet.", + "Take the bread loaf with soft surface and put it in the black skillet", + "Use the left arm to move the bread with golden crust to the round cast-iron skillet.", + "Move the rectangular bread loaf to the iron skillet for frying foods using the left arm.", + "Grab the rectangular bread loaf and place it into the round cast-iron skillet.", + "Grab the rectangular bread loaf and place it in the black skillet", + "Use the left arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Pick up the rectangular bread loaf and drop it into the iron skillet for frying foods", + "Pick the bread with golden crust up and place it in the black skillet", + "Grab the rectangular bread loaf and set it in the black skillet", + "Grab the bread loaf with soft surface and drop it into the round cast-iron skillet.", + "Take the bread loaf with soft surface and put it in the round cast-iron skillet", + "Use the left arm to move the bread loaf with soft surface to the black skillet.", + "Move the rectangular bread loaf to the round cast-iron skillet using the left arm.", + "Grab the bread loaf with soft surface and place it into the iron skillet for frying foods.", + "Grab the bread loaf with soft surface and place it in the iron skillet for frying foods", + "Use the left arm to grab the bread with golden crust and set it in the iron skillet for frying foods", + "Pick up the rectangular bread loaf and drop it into the black skillet", + "Pick the rectangular bread loaf up and place it in the iron skillet for frying foods", + "Grab the rectangular bread loaf and set it in the iron skillet for frying foods", + "Grab the bread loaf with soft surface and drop it into the black skillet.", + "Take the rectangular bread loaf and put it in the black skillet" + ] +} \ No newline at end of file diff --git a/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/scene_info.json b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/scene_info.json new file mode 100644 index 0000000000000000000000000000000000000000..0a0ee8a0dabedd0dfce0aa4fc3f0bcbe467d6bd4 --- /dev/null +++ b/robotwin_multiembodiments/place_bread_skillet/ur5-wsg/meta/scene_info.json @@ -0,0 +1,602 @@ +{ + "episode_0": { + "cluttered_table_info": [], + "texture_info": { + "wall_texture": null, + "table_texture": null + }, + "info": { + "{A}": "106_skillet/base1", + "{B}": 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